Opendrive map quality detection method, device and equipment and storage medium

Abstract

This application discloses an OpenDrive map quality detection method, apparatus, device, and storage medium, relating to the field of high-precision map technology. It enables automatic detection of OpenDrive map quality, preventing quality issues from affecting autonomous driving accuracy. The specific scheme includes: obtaining the first coordinates of multiple target points on a target reference line in a discrete map, and obtaining the angle value between the second and second coordinates of each target point in the OpenDrive map; the angle value is the angle between the tangent direction of the target reference line at the second coordinate and the horizontal direction in the OpenDrive map; determining the angle change value of each target point relative to the starting target point based on each angle value; and determining the third coordinate of each target point based on the starting angle value corresponding to the starting target point, the angle change value of each target point, and the first coordinate of the starting target point; and determining whether the target reference line in the OpenDrive map is qualified based on the spatial distance between the first and third coordinates of each target point.

Description

Technical Field

[0001] This application relates to the field of high-precision map technology, and in particular to an OpenDrive map quality detection method, apparatus, device and storage medium. Background Technology

[0002] OpenDrive format maps are a commonly used high-precision map standard in the field of autonomous driving simulation. OpenDrive format map files store the geometric shape and attribute information of roads, as well as traffic signs and road infrastructure that affect traffic logic, in the form of XML markup language. The production method of OpenDrive format maps generally involves first drawing a high-precision discrete map, and then converting the discrete map into an OpenDrive format map based on the OpenDrive standard.

[0003] Because discrete maps store road geometry using discrete points, while OpenDrive format maps use straight lines, arcs, spirals, parametric cubic curves combined with lane width variation curves to represent road shapes, there will inevitably be some loss of spatial accuracy between the maps before and after conversion. Therefore, an automatic quality detection method for OpenDrive format maps is needed to avoid affecting the accuracy of autonomous driving due to OpenDrive map quality issues. Summary of the Invention

[0004] This application provides an OpenDrive map quality detection method, apparatus, device, and storage medium, which can realize automatic detection of OpenDrive map quality and avoid the impact of OpenDrive map quality problems on the accuracy of autonomous driving.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] A first aspect of this application provides an OpenDrive map quality detection method, the method comprising:

[0007] Obtain the first coordinates of multiple target points sequentially included in the target reference line in the discrete map corresponding to the OpenDrive map, and obtain the angle value between the second coordinate and the second coordinate of each target point in the OpenDrive map; the OpenDrive map is a map transformed from the discrete map, and the first coordinate and the second coordinate are based on different coordinate systems, and the angle value is the angle between the tangent direction of the target reference line in the OpenDrive map at the corresponding second coordinate and the horizontal direction.

[0008] The angle change of each target point relative to the starting target point is determined based on each included angle value. The third coordinate of each target point is determined based on the starting included angle value corresponding to the starting target point, the angle change of each target point, and the first coordinate of the starting target point. The third coordinate and the first coordinate are based on the same coordinate system.

[0009] Based on the spatial distance between the first and third coordinates of each target point, determine whether the target reference line in the OpenDrive map is qualified.

[0010] In one embodiment, determining whether a target reference line in an OpenDrive map is qualified based on the spatial distance between the first and third coordinates of each target point includes:

[0011] If there is a spatial distance greater than the first preset threshold, the target reference line in the OpenDrive map is determined to be unqualified.

[0012] If all spatial distances are less than or equal to the first preset threshold, then the target reference line in the OpenDrive map is deemed qualified.

[0013] In one embodiment, determining the third coordinates of each target point based on the initial included angle value corresponding to the initial target point, the included angle change values ​​of each target point, and the first coordinates of the initial target point includes:

[0014] Determine the tangent direction angle of each target point based on the initial included angle value and the included angle change value of each target point;

[0015] The third coordinates of each target point are determined based on the tangent direction angles and the first coordinates.

[0016] In one embodiment, after determining whether the target reference line in the OpenDrive map is qualified based on the spatial distance between the first and third coordinates of each target point, the method further includes:

[0017] Obtain the width of at least one first lane corresponding to the target reference line in the discrete map;

[0018] Obtain the width of at least one second lane corresponding to the target reference line in the OpenDrive map;

[0019] Based on the width of the first lane and the width of the second lane corresponding to the width of the first lane, determine whether the second lane in the OpenDrive map is qualified.

[0020] In one embodiment, the first lane width includes a first starting width at the start position of the first lane and a first ending width at the end position of the first lane, and the second lane width includes a second starting width at the start position of the second lane and a second ending width at the end position of the second lane.

[0021] Based on the width of the first lane and the corresponding width of the second lane, determine whether the second lane in the OpenDrive map is qualified, including:

[0022] Based on the first starting width and the second starting width corresponding to the first starting width, and based on the first ending width and the second ending width corresponding to the first ending width, determine whether the second lane in the OpenDrive map is qualified.

[0023] In one embodiment, determining whether a second lane in an OpenDrive map is qualified based on a first starting width and a second starting width corresponding to the first starting width, and based on a first ending width and a second ending width corresponding to the first ending width, includes:

[0024] Determine the difference in starting width between each first starting width and the second starting width corresponding to each first starting width;

[0025] Determine the difference in termination width between each first termination width and the second termination width corresponding to each first termination width;

[0026] If both the starting width difference and the ending width difference are less than the second preset threshold, then the second lane is deemed qualified.

[0027] If there is a starting width difference or an ending width difference that is greater than the second preset threshold, then the second lane is determined to be unqualified.

[0028] In one embodiment, the method further includes:

[0029] Obtain at least one first length in the discrete map, where the first length is the lane boundary line length of at least one first lane corresponding to the target reference line;

[0030] Obtain at least one second length from the OpenDrive map, where the second length is the lane boundary line length of at least one second lane corresponding to the target reference line;

[0031] Based on the first length and the second length corresponding to the first length, determine whether the second lane in the OpenDrive map is qualified.

[0032] In one embodiment, determining whether a second lane in the OpenDrive map is qualified based on a first length and a second length corresponding to the first length includes:

[0033] Determine the length difference between each first length and the corresponding second length. If each length difference is less than or equal to a third preset threshold, the second lane in the OpenDrive map is deemed qualified. If there is a length difference greater than the third preset threshold, the second lane in the OpenDrive map is deemed unqualified.

[0034] In one embodiment, the method further includes:

[0035] The database of the target road corresponding to the target reference line in the OpenDrive map is checked to see if it includes a first element and a second element. The first element is used to indicate the preceding road connected to the target road, and the second element is used to indicate the subsequent road connected to the target road.

[0036] If the target road's dataset includes both the first and second elements, then the target road's connectivity is deemed satisfactory.

[0037] If the target road's dataset does not include the first element and / or the second element, then obtain the first arc at the starting point of the target reference line or the second arc at the ending point of the target reference line, and determine whether the connectivity of the target road is qualified based on the first arc and the second arc.

[0038] In one embodiment, the center of the first arc is the starting point of the target reference line, the tangent direction angle of the starting point of the first arc is a first angle plus 90°, and the tangent direction angle of the ending point of the first arc is a first angle plus 270°, where the first angle is the tangent direction angle of the starting point of the target reference line.

[0039] The center of the second arc is the endpoint of the target reference line. The tangent direction angle at the starting point of the second arc is the second angle minus 90°. The tangent direction angle at the endpoint of the second arc is the second angle plus 90°. The second angle is the tangent direction angle at the endpoint of the target reference line.

[0040] Determining the connectivity of the target road based on the first and second arcs includes:

[0041] Determine whether other reference lines in the OpenDrive map intersect with the first arc or the second arc;

[0042] If a reference line intersects with either the first or second arc, the connectivity of the target road is deemed unqualified; if all other reference lines do not intersect with either the first or second arc, the connectivity of the target road is deemed qualified.

[0043] A second aspect of this application provides an OpenDrive map quality detection device, the device comprising:

[0044] The acquisition module is used to acquire the first coordinates of multiple target points sequentially included by the target reference line in the discrete map corresponding to the OpenDrive map, and to acquire the angle value between the second coordinate and the second coordinate of each target point in the OpenDrive map; the OpenDrive map is a map converted from the discrete map, the first coordinate and the second coordinate are based on the same coordinate system, and the angle value is the angle between the tangent direction of the target reference line in the OpenDrive map at the corresponding second coordinate and the horizontal direction.

[0045] The first determining module is used to determine the angle change value of each target point relative to the starting target point based on each angle value, and to determine the third coordinate of each target point based on the starting angle value corresponding to the starting target point, the angle change value of each target point and the first coordinate of the starting target point. The third coordinate and the first coordinate are based on the same coordinate system.

[0046] The second determination module is used to determine whether the target reference line in the OpenDrive map is qualified based on the spatial distance between the first and third coordinates of each target point.

[0047] A third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the OpenDrive map quality detection method of the first aspect of this application.

[0048] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the OpenDrive map quality detection method of the first aspect of this application.

[0049] The beneficial effects of the technical solutions provided in this application include at least the following:

[0050] The OpenDrive map quality detection method provided in this application obtains the first coordinates of multiple target points sequentially included in the target reference line in the discrete map corresponding to the OpenDrive map (the OpenDrive map is a map converted from the discrete map), obtains the second coordinates of each target point in the OpenDrive map, and obtains the included angle value at each second coordinate. Based on each included angle value, the included angle change value of each target point relative to the starting target point is determined. Each included angle value is the angle between the tangent direction and the horizontal direction of the target reference line in the OpenDrive map at the corresponding second coordinate. Then, based on the starting included angle value corresponding to the starting target point, the included angle change value of each target point, and the first coordinate of the starting target point, the third coordinate of each target point is determined. Finally, based on the first and third coordinates of each target point, it is determined whether the target reference line in the OpenDrive map is qualified. Although the discrete map and the OpenDrive map represent different objects in the real world, the points on the reference lines in the discrete map should overlap as much as possible when converted to the OpenDrive map. Based on this, the spatial distance between the first coordinate of the target point in the discrete map and the third coordinate of the target point after conversion to the OpenDrive map can be used to determine whether the target reference line in the OpenDrive map is qualified. This enables automatic detection of the OpenDrive map quality and avoids the impact of OpenDrive map quality issues on the accuracy of autonomous driving. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of this application;

[0052] Figure 2 A flowchart of the OpenDrive map quality detection method provided in the embodiments of this application;

[0053] Figure 3 A schematic diagram of lane boundary curling provided for an embodiment of this application;

[0054] Figure 4 A schematic diagram illustrating the determination of dead-end roads in a road, as provided in an embodiment of this application;

[0055] Figure 5 This is a structural diagram of an OpenDrive map quality detection device provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0058] In addition, the use of “based on” or “according to” implies openness and inclusivity, because processes, steps, calculations or other actions “based on” or “according to” one or more conditions or values ​​can in practice be based on additional conditions or values ​​beyond those conditions.

[0059] OpenDrive format maps are a commonly used high-precision map standard in the field of autonomous driving simulation. OpenDrive format map files store the geometric shape and attribute information of roads, as well as traffic signs and road infrastructure that affect traffic logic, in the form of XML markup language. The production method of OpenDrive format maps generally involves first drawing a high-precision discrete map, and then converting the discrete map into an OpenDrive format map based on the OpenDrive standard.

[0060] Because discrete maps store road geometry using discrete points, while OpenDrive format maps use straight lines, arcs, spirals, parametric cubic curves combined with lane width variation curves to represent road shapes, there will inevitably be some loss of spatial accuracy between the maps before and after conversion. Therefore, an automatic quality detection method for OpenDrive format maps is needed to avoid affecting the accuracy of autonomous driving due to OpenDrive map quality issues.

[0061] To address the aforementioned issues, this application provides an OpenDrive map quality detection method. This method involves obtaining the first coordinates of multiple target points sequentially included in the target reference line of the discrete map corresponding to the OpenDrive map (the OpenDrive map is a map converted from the discrete map), obtaining the second coordinates of each target point in the OpenDrive map, and obtaining the included angle value at each second coordinate. Based on these included angle values, the method determines the angle change value of each target point relative to the starting target point. Each included angle value is the angle between the tangent direction and the horizontal direction of the target reference line at the corresponding second coordinate in the OpenDrive map. Then, based on the starting included angle value corresponding to the starting target point, the angle change value of each target point, and the first coordinate of the starting target point, the method determines the third coordinate of each target point. Finally, based on the first and third coordinates of each target point, the method determines whether the target reference line in the OpenDrive map is qualified. Although the discrete map and the OpenDrive map represent different objects in the real world, the points on the reference lines in the discrete map should overlap as much as possible when converted to the OpenDrive map. Based on this, the spatial distance between the first coordinate of the target point in the discrete map and the third coordinate of the target point after conversion to the OpenDrive map can be used to determine whether the target reference line in the OpenDrive map is qualified. This enables automatic detection of the OpenDrive map quality and avoids the impact of OpenDrive map quality issues on the accuracy of autonomous driving.

[0062] The execution subject of the OpenDrive map quality detection method provided in this application embodiment can be an electronic device. Specifically, the electronic device can be a computer device, a terminal device, or a server. The terminal device can be an in-vehicle terminal, various personal computers, laptops, smartphones, tablets, and portable wearable devices, etc. This application does not make any specific limitations.

[0063] Figure 1 Taking the vehicle-mounted terminal as an example, the execution entity is shown below. Figure 1 This is a schematic diagram of the internal structure of a vehicle-mounted terminal provided in an embodiment of this application. Figure 1 As shown, the vehicle-mounted terminal includes a processor and a memory connected via a system bus. The processor provides computing and control capabilities. The memory may include non-volatile storage media and internal memory. The non-volatile storage media stores an operating system and computer programs. These computer programs can be executed by the processor to implement the steps of the OpenDrive map quality detection method provided in the above embodiments. The internal memory provides a cached runtime environment for the operating system and computer programs in the non-volatile storage media.

[0064] Those skilled in the art will understand that Figure 1 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the vehicle terminal to which the present application is applied. A specific vehicle terminal may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0065] Based on the aforementioned execution entity, this application provides an OpenDrive map quality detection method. For example... Figure 2 As shown, the method includes the following steps:

[0066] Step 201: Obtain the first coordinates of multiple target points sequentially included in the target reference line in the discrete map corresponding to the OpenDrive map.

[0067] The first coordinate is based on the Cartesian coordinate system. The OpenDrive map is a map converted from a discrete map. The target reference line in the discrete map can be a polyline, such as a lane marking. During the OpenDrive map conversion process, the polyline is converted into a reference line in the OpenDrive map based on its geometric characteristics.

[0068] Discrete maps store road geometry using discrete points, while OpenDrive maps use straight lines, arcs, spirals, parametric cubic curves, and lane width variation curves to represent road shapes. During the OpenDrive map data conversion process, when a polyline is selected as a reference line in the discrete map, its ID value is recorded. This polyline is then converted into a reference line in the OpenDrive map, and the ID value of the road element containing the reference line is set to the ID value of the polyline for easy data comparison later.

[0069] Step 202: Obtain the second coordinates of each target point in the OpenDrive map.

[0070] Optionally, the coordinates of discrete points in the discrete map are based on Cartesian coordinates, while the data in the OpenDrive map is based on the (s, t) coordinate system within the Frenet coordinate system. In this system, the s-axis is always aligned with the tangent to the reference line, and the t-direction is orthogonal to the s-direction. When converting multiple target points representing the reference line in the discrete map to the OpenDrive map, the actual positions of these reference points should coincide. Therefore, based on the spatial distance between the target points, the (s, t) coordinates of each target point within the s coordinate system (which is included in the Frenet coordinate system) of the OpenDrive map can be obtained; this is the second coordinate.

[0071] For example, each target point can be composed of Point1, Point2, Point3, ... PointN, and the s-coordinate of each target point can be obtained through... The distance(point[i],point[i+1]) function is used to calculate the spatial distance between two points. Since the target points are points on the reference line and each target point is on the s-axis, the t-coordinate of each target point is always 0.

[0072] Step 203: Obtain the included angle value at each second coordinate, and determine the angle change value of each target point relative to the starting target point based on each included angle value.

[0073] Each angle value represents the angle between the tangent direction of the target reference line at the corresponding second coordinate in the OpenDrive map and the horizontal direction.

[0074] Step 204: Determine the third coordinates of each target point based on the initial angle value corresponding to the initial target point, the angle change value of each target point, and the first coordinate of the initial target point.

[0075] Optionally, the tangent direction angle of each target point can be determined based on the initial included angle value and the included angle change value of each target point, and then the third coordinate of each target point can be determined based on each tangent direction angle and the first coordinate.

[0076] Specifically, the tangent direction angle of each target point can be obtained according to α = α0 + Δα, where α is the tangent direction angle of each target point, α0 is the initial included angle value corresponding to the starting target point, and Δα is the included angle change value of each target point. Then, the first transformation parameter is obtained according to the tangent direction angle included in formula (1), and the position of the target point in the Cartesian coordinate system in the OpenDrive map is obtained according to the first coordinate, the first transformation parameter and (s, t) of each target point in formula (2), that is, the third coordinate.

[0077]

[0078]

[0079] In formula (1), R is the first transformation parameter, α is the tangent direction angle of each target point, (x′,y′) in formula (2) are the third coordinates of each target point, (x0,y0) are the first coordinates of the starting target point in the discrete map, and (s,t) are the (s,t) coordinates of each target point in the st coordinate system in the OpenDrive map.

[0080] Step 205: Determine whether the target reference line in the OpenDrive map is qualified based on the spatial distance between the first and third coordinates of each target point.

[0081] Optionally, if there is a spatial distance greater than the first preset threshold, the target reference line in the OpenDrive map is determined to be unqualified; if all spatial distances are less than or equal to the preset threshold, the target reference line in the OpenDrive map is determined to be qualified.

[0082] The first preset threshold can be 0.3 meters, or it can be set according to the conversion accuracy required by the OpenDrive map. This application embodiment does not specifically limit this.

[0083] Although the discrete map and the OpenDrive map represent different objects in the real world, the points on the reference lines in the discrete map should overlap as much as possible when converted to the OpenDrive map. Therefore, the spatial distance between the first coordinate of the target point in the discrete map and the third coordinate of the target point after conversion to the OpenDrive map can be used to determine whether the target reference line in the OpenDrive map is qualified. This enables automatic detection of the OpenDrive map quality and avoids the impact of OpenDrive map quality issues on the accuracy of autonomous driving.

[0084] Optionally, after determining whether the target reference line in the OpenDrive map is qualified, the method further includes:

[0085] Obtain the first lane width of at least one first lane corresponding to the target reference line in the discrete map, then obtain the second lane width of at least one second lane corresponding to the target reference line in the OpenDrive map, and finally determine whether the second lane in the OpenDrive map is qualified based on the first lane width and the second lane width corresponding to the first lane width.

[0086] Specifically, the first lane width includes a first starting width at the starting position of the first lane and a first ending width at the ending position of the first lane, and the second lane width includes a second starting width at the starting position of the second lane and a second ending width at the ending position of the second lane.

[0087] The process of determining whether a second lane in an OpenDrive map is qualified based on the first lane width and the corresponding second lane width can be as follows: determine whether a second lane in an OpenDrive map is qualified based on the first starting width and the corresponding second starting width, and based on the first ending width and the corresponding second ending width.

[0088] Optionally, the process of determining whether a second lane in the OpenDrive map is qualified based on a first starting width and a second starting width corresponding to the first starting width, and based on a first ending width and a second ending width corresponding to the first ending width, can be as follows: determine the starting width difference between each first starting width and the second starting width corresponding to each first starting width; determine the ending width difference between each first ending width and the second ending width corresponding to each first ending width; if both the starting width difference and the ending width difference are less than a second preset threshold, then the second lane is determined to be qualified; if there is a starting width difference or an ending width difference greater than the second preset threshold, then the second lane is determined to be unqualified.

[0089] In actual execution, the difference between the starting width and the corresponding second starting width can be determined, as can the difference between the ending width and the corresponding second ending width can be determined. If both the starting width difference and the ending width difference are less than a second preset threshold, the second lane is deemed qualified; if either the starting width difference or the ending width difference is greater than the second preset threshold, the second lane is deemed unqualified.

[0090] The second preset threshold can be 0.2 meters, or it can be set according to the conversion accuracy required by the OpenDrive map. This application embodiment does not specifically limit this.

[0091] Understandably, ideally, the lane width of a lane should be consistent before and after the conversion. However, in reality, there may be significant errors in the lane width in the converted OpenDrive map. Therefore, we determine whether the lane width in the OpenDrive map is acceptable by judging whether the difference between the lane width in the OpenDrive map and the corresponding discrete map is too large. Since a lane has a starting lane width and an ending lane width, it is necessary to compare the starting lane width in the OpenDrive map with the corresponding starting lane width in the discrete map, and the ending lane width in the OpenDrive map with the corresponding ending lane width in the discrete map. This improves the accuracy of lane width detection.

[0092] Optionally, the method further includes: obtaining at least one first length in the discrete map, the first length being the lane boundary line length of at least one first lane corresponding to the target reference line; obtaining at least one second length in the OpenDrive map, the second length being the lane boundary line length of at least one second lane corresponding to the target reference line; and finally determining whether the second lane in the OpenDrive map is qualified based on the first length and the second length corresponding to the first length.

[0093] Specifically, the process of determining whether the second lane in the OpenDrive map is qualified based on the first length and the second length corresponding to the first length can be as follows: determine the length difference between each first length and the second length corresponding to each first length; if each length difference is less than or equal to a third preset threshold, then the second lane in the OpenDrive map is qualified; if there is a length difference greater than the third preset threshold, then the second lane in the OpenDrive map is unqualified.

[0094] The second preset threshold can be 0.4 meters, or it can be set according to the conversion accuracy required by the OpenDrive map. This application embodiment does not specifically limit this.

[0095] Understandably, ideally, the length of the lane boundary line for the same lane should be consistent before and after the conversion. However, in actual conversions, the length of the lane boundary line for the same lane may differ between the OpenDrive map and the discrete map. For example, even if the accuracy of the control point position and lane width of the reference line meets the requirements, there may still be cases where the lane boundary line conversion is incorrect. Specifically, for instance... Figure 3 The example shown is a curled lane boundary line. To address this conversion error, lane boundary line length detection is required. By comparing the length of the lane boundary line in the discrete map before conversion with the length of the same lane after conversion, it can be determined whether the lane boundary line length in the OpenDrive map is acceptable.

[0096] Optionally, the method further includes: detecting whether the dataset of the target road corresponding to the target reference line in the OpenDrive map includes a first element and a second element, wherein the first element is used to indicate the preceding road connected to the target road, and the second element is used to indicate the subsequent road connected to the target road;

[0097] If the target road's data set includes the first element and the second element, then the target road's connectivity is deemed acceptable. If the target road's data set does not include the first element and / or the second element, then the first arc at the starting point of the target reference line or the second arc at the ending point of the target reference line is obtained, and the connectivity of the target road is determined based on the first arc and the second arc.

[0098] In OpenDrive maps, each road data entry includes a first element and a second element. The first element indicates the preceding road connecting to the current road, and the second element indicates the succeeding road connecting to the current road. The first element can be represented by a `predecessor` element, and the second element by a `successor` element. Excluding dead-end roads, each road element must contain one `predecessor` element and one `successor` element; otherwise, road connectivity is considered unsatisfactory. Therefore, when checking road connectivity, it's necessary to first check if each road contains both the first and second elements. If both are present, the road connectivity is considered satisfactory. If either the first or second element is missing, further checks are needed to determine if the current road is a dead-end road. If it is, the current road connectivity is considered satisfactory; otherwise, the current road connectivity is considered unsatisfactory.

[0099] Specifically, the center of the first arc is the starting point of the target reference line, the tangent direction angle at the starting point of the first arc is the first angle plus 90°, and the tangent direction angle at the ending point of the first arc is the first angle plus 270°. The first angle is the tangent direction angle at the starting point of the target reference line.

[0100] The center of the second arc is the endpoint of the target reference line. The tangent direction angle at the starting point of the second arc is the second angle minus 90°, and the tangent direction angle at the endpoint of the second arc is the second angle plus 90°. The second angle is the tangent direction angle at the endpoint of the target reference line. The process of determining whether the connectivity of the target road is qualified based on the first and second arcs can be as follows: determine whether other reference lines in the OpenDrive map intersect with the first or second arc; if there is a reference line that intersects with the first or second arc, the connectivity of the target road is determined to be unqualified; if all other reference lines do not intersect with the first or second arc, the connectivity of the target road is determined to be qualified.

[0101] In the specific implementation process, such as Figure 4As shown, if a road element lacks a `predecessor` element, a semicircle is drawn with the starting point of the road element's reference line as the center and a radius of 1 meter. The tangent direction angle at the starting point of the reference line is `hdg`, so the starting direction angle of the semicircle is `hdg+90` degrees, and the ending direction angle is `hdg+270` degrees. Each reference line in the OpenDrive map is checked to determine if it intersects with this semicircle. If no reference line intersects with the semicircle, the road element is considered a dead-end road. Otherwise, the `predecessor` child element of the road element is missing, and connectivity is considered unsatisfactory. If a road element lacks a `successor` child element, a semicircle is drawn with the ending point of the road element's reference line as the center and a radius of 1 meter. The tangent direction angle at the ending point of the reference line is `hdg`, so the starting direction angle of the semicircle is `hdg-90` degrees, and the ending direction angle is `hdg+90` degrees. Each reference line in the OpenDrive map is checked to determine if it intersects with this semicircle. If no reference line intersects with the semicircle, the road element is considered a dead end. Otherwise, the successor child element of the road element is considered missing, and the connectivity is considered unsatisfactory.

[0102] like Figure 5 As shown in the figure, this application embodiment also provides an OpenDrive map quality detection device, characterized in that the device includes:

[0103] The first acquisition module 11 is used to acquire the first coordinates of multiple target points included in the target reference line in the discrete map corresponding to the OpenDrive map, wherein the OpenDrive map is a map converted from the discrete map.

[0104] The second acquisition module 12 is used to acquire the second coordinates of each target point in the OpenDrive map;

[0105] The third acquisition module 13 is used to acquire the included angle value at each second coordinate, and determine the included angle change value of each target point relative to the starting target point based on each included angle value. Each included angle value is the angle between the tangent direction of the target reference line in the OpenDrive map at the corresponding second coordinate and the horizontal direction.

[0106] The first determining module 14 is used to determine the third coordinates of each target point based on the initial included angle value corresponding to the initial target point, the included angle change value of each target point, and the first coordinates of the initial target point;

[0107] The second determination module 15 is used to determine whether the target reference line in the OpenDrive map is qualified based on the first and third coordinates of each target point.

[0108] In one embodiment, the second determining module 15 is specifically used for:

[0109] If there is a spatial distance greater than the first preset threshold, the target reference line in the OpenDrive map is determined to be unqualified.

[0110] If all spatial distances are less than or equal to the first preset threshold, then the target reference line in the OpenDrive map is deemed qualified.

[0111] In one embodiment, the first determining module 14 is specifically used for:

[0112] Determine the tangent direction angle of each target point based on the initial included angle value and the included angle change value of each target point;

[0113] The third coordinates of each target point are determined based on the tangent direction angles and the first coordinates.

[0114] In one embodiment, the first acquisition module 11 is further configured to:

[0115] Obtain the width of at least one first lane corresponding to the target reference line in the discrete map;

[0116] Obtain the width of at least one second lane corresponding to the target reference line in the OpenDrive map;

[0117] The second determining module 15 is further configured to determine whether the lane width of the second lane in the OpenDrive map is qualified based on the first lane width and the second lane width corresponding to the first lane width.

[0118] In one embodiment, the first lane width includes a first starting width at the start position of the first lane and a first ending width at the end position of the first lane, and the second lane width includes a second starting width at the start position of the second lane and a second ending width at the end position of the second lane.

[0119] The second determining module 15 is specifically used for:

[0120] Based on the first starting width and the second starting width corresponding to the first starting width, and based on the first ending width and the second ending width corresponding to the first ending width, determine whether the second lane in the OpenDrive map is qualified.

[0121] In one embodiment, the second determining module 15 is specifically used for:

[0122] Determine the difference in starting width between each first starting width and the second starting width corresponding to each first starting width;

[0123] Determine the difference in termination width between each first termination width and the second termination width corresponding to each first termination width;

[0124] If both the starting width difference and the ending width difference are less than the second preset threshold, then the second lane is deemed qualified.

[0125] If there is a starting width difference or an ending width difference that is greater than the second preset threshold, then the second lane is determined to be unqualified.

[0126] In one embodiment, the first acquisition module 11 is further configured to:

[0127] Obtain at least one first length in the discrete map, where the first length is the lane boundary line length of at least one first lane corresponding to the target reference line;

[0128] Obtain at least one second length from the OpenDrive map, where the second length is the lane boundary line length of at least one second lane corresponding to the target reference line;

[0129] The second determining module 15 is further configured to: determine whether the second lane in the OpenDrive map is qualified based on the first length and the second length corresponding to the first length.

[0130] In one embodiment, the second determining module 15 is specifically used for:

[0131] Determine the length difference between each first length and the corresponding second length. If each length difference is less than or equal to a third preset threshold, the second lane in the OpenDrive map is deemed qualified. If there is a length difference greater than the third preset threshold, the second lane in the OpenDrive map is deemed unqualified.

[0132] In one embodiment, the second determining module 15 is further configured to:

[0133] The database of the target road corresponding to the target reference line in the OpenDrive map is checked to see if it includes a first element and a second element. The first element is used to indicate the preceding road connected to the target road, and the second element is used to indicate the subsequent road connected to the target road.

[0134] If the target road's dataset includes both the first and second elements, then the target road's connectivity is deemed satisfactory.

[0135] If the target road's dataset does not include the first element and / or the second element, then obtain the first arc at the starting point of the target reference line or the second arc at the ending point of the target reference line, and determine whether the connectivity of the target road is qualified based on the first arc and the second arc.

[0136] In one embodiment, the center of the first arc is the starting point of the target reference line, the tangent direction angle of the starting point of the first arc is a first angle plus 90°, and the tangent direction angle of the ending point of the first arc is a first angle plus 270°, where the first angle is the tangent direction angle of the starting point of the target reference line.

[0137] The center of the second arc is the endpoint of the target reference line. The tangent direction angle at the starting point of the second arc is the second angle minus 90°. The tangent direction angle at the endpoint of the second arc is the second angle plus 90°. The second angle is the tangent direction angle at the endpoint of the target reference line.

[0138] The second determining module 15 is specifically used for:

[0139] Determine whether other reference lines in the OpenDrive map intersect with the first arc or the second arc;

[0140] If a reference line intersects with either the first or second arc, the connectivity of the target road is deemed unqualified; if all other reference lines do not intersect with either the first or second arc, the connectivity of the target road is deemed qualified.

[0141] The OpenDrive map quality detection device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described in detail here.

[0142] Specific limitations regarding the OpenDrive map quality testing device can be found in the limitations of the OpenDrive map quality testing method described above, and will not be repeated here. Each module in the aforementioned OpenDrive map quality testing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor of the electronic device, or stored in software in the memory of the electronic device, so that the processor can call and execute the corresponding operations of each module.

[0143] In another embodiment of this application, an electronic device is also provided, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the steps of the OpenDrive map quality detection method as described in the embodiments of this application.

[0144] In another embodiment of this application, a computer-readable storage medium is also provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the OpenDrive map quality detection method as described in the embodiments of this application are implemented.

[0145] In another embodiment of this application, a computer program product is also provided, which includes computer instructions that, when executed on an OpenDrive map quality detection device, cause the OpenDrive map quality detection device to perform each step of the OpenDrive map quality detection method in the method flow shown in the above method embodiment.

[0146] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs).

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An OpenDrive map quality detection method, characterized in that, The method comprises: Obtaining the first coordinates of a plurality of target points included in a target reference line in a discrete map corresponding to an OpenDrive map, and obtaining the second coordinates of each target point in the OpenDrive map and the included angle value at the second coordinates; wherein the OpenDrive map is a map converted based on the discrete map, the first coordinates and the second coordinates are based on different coordinate systems, and the included angle value is the included angle value between the tangent direction of the target reference line in the OpenDrive map at the corresponding second coordinates and the horizontal direction; According to each of the included angle values, determine the included angle change value of each target point compared to the starting target point, and according to the starting included angle value corresponding to the starting target point, the included angle change value of each target point and the first coordinate of the starting target point, determine the third coordinate of each target point, the third coordinate and the first coordinate are based on the same coordinate system; According to the spatial distance between the first coordinate and the third coordinate of each target point, determine whether the target reference line in the OpenDrive map is qualified.

2. The method of claim 1, wherein, According to the spatial distance between the first coordinate and the third coordinate of each target point, determine whether the target reference line in the OpenDrive map is qualified, comprising: If one of the spatial distances is greater than a first preset threshold, it is determined that the target reference line in the OpenDrive map is unqualified; If each of the spatial distances is less than or equal to the first preset threshold, it is determined that the target reference line in the OpenDrive map is qualified.

3. The method of claim 1, wherein, According to the starting included angle value corresponding to the starting target point, the included angle change value of each target point and the first coordinate of the starting target point, determine the third coordinate of each target point, comprising: According to the starting included angle value and the included angle change value of each target point, determine the tangent direction angle of each target point; According to each of the tangent direction angle and the first coordinate, determine the third coordinate of each target point.

4. The method of claim 2, wherein, After determining that the target reference line in the OpenDrive map is qualified, the method further comprises: Obtaining the first lane width of at least one first lane corresponding to the target reference line in the discrete map; Obtaining the second lane width of at least one second lane corresponding to the target reference line in the OpenDrive map; According to the first lane width and the second lane width corresponding to the first lane width, determine whether the lane width of the second lane in the OpenDrive map is qualified.

5. The method of claim 4, wherein, The first lane width comprises a first starting width at a starting position of the first lane and a first ending width at an ending position of the first lane, and the second lane width comprises a second starting width at a starting position of the second lane and a second ending width at an ending position of the second lane; According to the first lane width and the second lane width corresponding to the first lane width, determine whether the second lane in the OpenDrive map is qualified, comprising: Determine whether a second lane in the OpenDrive map is qualified according to the first start width and a second start width corresponding to the first start width, and according to the first end width and a second end width corresponding to the first end width.

6. The method of claim 5, wherein, The determining whether the second lane in the OpenDrive map is qualified according to the first start width and a second start width corresponding to the first start width, and according to the first end width and a second end width corresponding to the first end width comprises: Determine a start width difference between each of the first start width and a second start width corresponding to the first start width; Determine an end width difference between each of the first end width and a second end width corresponding to the first end width; If the start width difference and the end width difference are both less than a second preset threshold, determine that the second lane is qualified; If one of the start width difference or the end width difference is greater than the second preset threshold, determine that the second lane is unqualified.

7. The method of claim 6, wherein, After determining that the second lane is qualified, the method further comprises: Obtain at least one first length in the discrete map, the first length being a lane boundary line length of at least one first lane corresponding to the target reference line; Obtain at least one second length in the OpenDrive map, the second length being a lane boundary line length of at least one second lane corresponding to the target reference line; Determine whether a second lane in the OpenDrive map is qualified according to the first length and a second length corresponding to the first length.

8. The method of claim 7, wherein, The determining whether the second lane in the OpenDrive map is qualified according to the first length and a second length corresponding to the first length comprises: Determine a length difference between each of the first length and a second length corresponding to the first length, if each of the length difference is less than or equal to a third preset threshold, determine that the second lane in the OpenDrive map is qualified, if one of the length difference is greater than the third preset threshold, determine that the second lane in the OpenDrive map is unqualified.

9. The method of claim 8, wherein, After determining whether the second lane in the OpenDrive map is qualified according to the first length and a second length corresponding to the first length, the method further comprises: Detect whether a first element and a second element are included in a data set of a target road corresponding to the target reference line in the OpenDrive map, the first element being used to indicate a predecessor road connected with the target road, and the second element being used to indicate a successor road connected with the target road; If the first element and the second element are included in the data set of the target road, determine that the connectivity of the target road is qualified; If the first element and the second element are included in the data set of the target road, determine that the connectivity of the target road is qualified; If the first element and / or the second element are not included in the data set of the target road, a first circular arc at a starting point of the target reference line or a second circular arc at an ending point of the target reference line is obtained, and whether the connectivity of the target road is qualified is determined according to the first circular arc and the second circular arc.

10. The method of claim 9, wherein, A center of the first circular arc is a starting point of the target reference line, a tangent direction angle of a starting point of the first circular arc is a first angle plus 90°, a tangent direction angle of an ending point of the first circular arc is the first angle plus 270°, and the first angle is a tangent direction angle of the starting point of the target reference line; A center of the second circular arc is an ending point of the target reference line, a tangent direction angle of a starting point of the second circular arc is a second angle minus 90°, a tangent direction angle of an ending point of the second circular arc is the second angle plus 90°, and the second angle is a tangent direction angle of the ending point of the target reference line; The determining whether the connectivity of the target road is qualified according to the first circular arc and the second circular arc comprises: determining whether other reference lines in the OpenDrive map intersect with the first circular arc or with the second circular arc; if there is a reference line intersecting with the first circular arc or with the second circular arc, determining that the connectivity of the target road is unqualified, and if other reference lines do not intersect with the first circular arc and the second circular arc, determining that the connectivity of the target road is qualified.

11. An OpenDrive map quality detection apparatus, characterized in that, The device comprises: an acquisition module, configured to acquire first coordinates of a plurality of target points included in a target reference line in a discrete map corresponding to an OpenDrive map in sequence, and acquire second coordinates of the target points in the OpenDrive map and an included angle value at the second coordinates; the OpenDrive map is a map converted based on the discrete map, the first coordinates and the second coordinates are based on a same coordinate system, and the included angle value is an included angle value between a tangent direction of the target reference line in the OpenDrive map at a corresponding second coordinate and a horizontal direction; a first determination module, configured to determine an included angle change value of each target point compared with a starting target point according to each included angle value, and determine third coordinates of each target point according to a starting included angle value corresponding to the starting target point, the included angle change value of each target point, and the first coordinates of the starting target point, the third coordinates and the first coordinates being based on the same coordinate system; a second determination module, configured to determine whether the target reference line in the OpenDrive map is qualified according to a spatial distance between the first coordinates and the third coordinates of each target point.

12. An electronic device, comprising: A memory and a processor are included, the memory stores a computer program, and the computer program is implemented when executed by the processor to realize the OpenDrive map quality detection method in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and the computer program is implemented when executed by a processor to realize the OpenDrive map quality detection method in any one of claims 1 to 10.

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