Non-ODD region verification method and device and medium

Abstract

The invention relates to a non-ODD region verification method and device and a medium. According to the invention, when the vehicle passes through the target area marked as the non-ODD area, the sensing data of the target area is collected through the terminal carried by the vehicle and is uploaded to the server, and then the server establishes the sensing map of the target area according to the sensing data. Comparing the perception map of the target area with the high-precision map of the target area to determine the overlap ratio between the perception map of the target area and the high-precision map of the target area, finally verifying whether the target area is a non-ODD area or not by the server based on the overlap ratio between the perception map of the target area and the high-precision map of the target area, and if the verification result shows that the target area is an ODD area, judging whether the target area is a non-ODD area. And if not, cancelling the non-ODD region label of the target region in the high-precision map. According to the invention, the verification cost of the non-ODD area can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a non-ODD area verification method, device and medium. Background Art

[0002] Existing automobile assisted driving systems use high-precision maps to identify the area where the vehicle is currently traveling, which is called the ODD (Operational Design Domain) area. Currently, in the NOA (assisted driving function) test, for some construction sections, since the roads in the construction sections are likely to change, and the high-precision maps are often not updated in time, resulting in the high-precision maps becoming inaccurate, the construction sections are usually circled as non-ODD areas in the high-precision maps. When a vehicle with the NOA function turned on passes through this area, the NOA function is downgraded to the LKA (lane keeping assist) function 100m in advance, and the vehicle control is handed over to the driver to prevent danger.

[0003] However, small-scale construction such as repairing small sections of damaged road surface or repairing railings will not change the road. Instead, the road will most likely be restored to its original state. If these small construction sections are circled as non-ODD areas, the NOA function will also be cancelled when vehicles pass through these areas, which will cause inconvenience to drivers. Reconfirming whether these areas are non-ODD areas requires a large number of test vehicles to retest and verify, which consumes a lot of manpower and material resources and is too costly. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a non-ODD area verification method, device and medium.

[0005] In a first aspect, the present disclosure provides a non-ODD area verification method, which is applied to a server, comprising:

[0006] Receiving perception data about a target area uploaded by a terminal, wherein the perception data is collected when a vehicle carrying the terminal enters the target area, and the target area in the high-precision map has a non-ODD area label;

[0007] generating a perception map of the target area according to the perception data;

[0008] Comparing the perception map with the high-precision map of the target area to determine the degree of overlap between the perception map and the high-precision map of the target area;

[0009] Comparing the overlap degree with a preset threshold value to determine a verification result of the target area;

[0010] If the verification result indicates that the target area is an ODD area, the non-ODD area label of the target area in the high-precision map is cancelled.

[0011] Optionally, the receiving terminal uploads the sensing data about the target area, including:

[0012] When receiving the sensing data about the target area uploaded by the terminal, searching for a storage space corresponding to the target area;

[0013] The perception data is stored in the storage space, and the upload time of the perception data is marked.

[0014] Optionally, comparing the overlap degree with a preset threshold to determine a verification result of the target area includes:

[0015] If the overlap degree is higher than a preset threshold, generating a review message of the target area;

[0016] In response to a processing operation on the review message, a verification result corresponding to the processing operation is determined.

[0017] Optionally, generating a review message for the target area includes:

[0018] marking an overlapped area between the perception map and the high-precision map of the target area, and generating a review message including the overlapped area and the overlap degree;

[0019] The review message is displayed in the target area in the high-precision map.

[0020] Optionally, the method further includes:

[0021] If the overlap is less than a preset threshold, recording the terminal that uploaded the sensing data;

[0022] When the number of the terminals recorded within the first preset time period is greater than the preset number, a stop collection instruction for the target area is sent to the terminal, and the stop collection instruction is used to instruct the terminal to stop collecting perception data about the target area within a second preset time.

[0023] Optionally, if the verification result indicates that the target area is an ODD area, canceling the non-ODD area label of the target area in the high-precision map includes:

[0024] If the verification result corresponding to the processing operation is passed, determining that the target area is an ODD area, and recording the target area in a cancellation list;

[0025] In response to a cancel operation on the selected target area in the cancellation list, the non-ODD area label of the selected target area is canceled in the high-precision map.

[0026] Optionally, the method further includes:

[0027] Determine the region circle to which the target area belongs;

[0028] Searching for a statistical list corresponding to the regional circle, the statistical list comprising a first statistical column and a second statistical column;

[0029] Entering a record of canceling the non-ODD area label of the target area in the second statistics column;

[0030] The first statistics column includes records of non-ODD areas in the regional circle, and the second statistics column includes records of non-ODD areas in the regional circle whose non-ODD area labels have been canceled.

[0031] In a second aspect, the present disclosure provides a non-ODD area verification method, which is applied to a terminal, the terminal being mounted on a vehicle, and the method comprising:

[0032] Detecting that a vehicle enters a target area, and collecting perception data about the target area;

[0033] The perception data is uploaded to a server so that the server generates a perception map of the target area according to the perception data.

[0034] Optionally, when the vehicle is detected to enter the target area, the sensing data about the target area is collected, including:

[0035] Obtaining positioning information of the vehicle;

[0036] When the position represented by the positioning information is within the target area, perception data collected by the sensor of the vehicle is acquired.

[0037] In a third aspect, the present disclosure provides a non-ODD area verification device, applied to a server, comprising:

[0038] A receiving module, used for receiving the perception data about the target area uploaded by the terminal, wherein the perception data is collected when the vehicle carrying the terminal enters the target area, and the target area in the high-precision map has a non-ODD area label;

[0039] A generating module, configured to generate a perception map of the target area according to the perception data;

[0040] A comparison module, used to compare the perception map with the high-precision map of the target area to determine the degree of overlap between the perception map and the high-precision map of the target area;

[0041] A verification module, used to compare the overlap degree with a preset threshold value to determine a verification result of the target area;

[0042] The cancellation module is used to cancel the non-ODD area label of the target area in the high-precision map if the verification result is that the target area is an ODD area.

[0043] Optionally, when the receiving terminal uploads the perception data about the target area, the receiving module is specifically used to search for the storage space corresponding to the target area; store the perception data in the storage space, and mark the upload time of the perception data.

[0044] Optionally, when the comparison module compares the degree of overlap with a preset threshold to determine the verification result of the target area, it is specifically used to generate a verification message for the target area if the degree of overlap is higher than the preset threshold; and in response to a processing operation on the verification message, determine the verification result corresponding to the processing operation.

[0045] Optionally, when generating a review message for the target area, the comparison module is specifically used to mark the overlapping area between the perception map and the high-precision map of the target area, and generate a review message including the overlapping area and the degree of overlap; and display the review message in the target area in the high-precision map.

[0046] Optionally, the device also includes an indication module, which is used to record the terminal that uploads the perception data if the overlap is less than a preset threshold; when the number of the terminals recorded within a first preset time period is greater than a preset number, a stop collection instruction for the target area is sent to the terminal, and the stop collection instruction is used to instruct the terminal to stop collecting perception data about the target area within a second preset time.

[0047] Optionally, when the verification result characterizes that the target area is an ODD area and the cancellation module cancels the non-ODD area label of the target area in the high-precision map, it is specifically used to determine that the target area is an ODD area when the verification result corresponding to the processing operation is passed, and record the target area in a cancellation list; in response to a cancellation operation on the selected target area in the cancellation list, cancel the non-ODD area label of the selected target area in the high-precision map.

[0048] Optionally, the device also includes a statistical module, which is used to determine the regional circle to which the target area belongs; search for a statistical list corresponding to the regional circle, the statistical list including a first statistical column and a second statistical column; enter a record of canceling the non-ODD area label of the target area in the second statistical column; wherein the first statistical column includes records of non-ODD areas in the regional circle, and the second statistical column includes records of non-ODD areas in the regional circle whose non-ODD area labels have been canceled.

[0049] In a fourth aspect, the present disclosure provides a non-ODD area verification device, which is applied to a terminal, the terminal is mounted on a vehicle, and the device includes:

[0050] A collection module, used to collect perception data about the target area when a vehicle is detected entering the target area;

[0051] The uploading module is used to upload the perception data to a server so that the server generates a perception map of the target area according to the perception data.

[0052] Optionally, when the acquisition module monitors a vehicle entering a target area and collects perception data about the target area, it is specifically used to obtain positioning information of the vehicle; when the position represented by the positioning information is within the target area, the perception data collected by the sensor of the vehicle is obtained.

[0053] In a fifth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method as described in any one of the first aspect or the second aspect.

[0054] The non-ODD area verification method, device and medium provided by the present disclosure collect perception data of the target area marked as a non-ODD area through a terminal carried by the vehicle and upload it to a server when the vehicle passes through the target area marked as a non-ODD area. The server then establishes a perception map of the target area based on the perception data, compares the perception map of the target area with a high-precision map of the target area to determine the overlap between the two, and finally verifies whether the target area is a non-ODD area based on the overlap between the perception map of the target area and the high-precision map of the target area. If the verification result shows that the target area is an ODD area, the non-ODD area label of the target area is cancelled in the high-precision map, thereby utilizing the perception data collected by the vehicle passing through the target area to confirm whether the non-ODD area label of the target area is accurate, and the non-ODD area can be verified without a special test vehicle entering the target area, thereby reducing the cost of non-ODD area verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0057] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0058] Figure 2 A flow chart of a non-ODD area verification method provided in an embodiment of the present disclosure;

[0059] Figure 3 Another non-ODD area verification method provided in an embodiment of the present disclosure;

[0060] Figure 4 A schematic diagram of the structure of a non-ODD area verification device provided in an embodiment of the present disclosure;

[0061] Figure 5 A schematic diagram of the structure of another non-ODD area verification device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0062] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0064] Since the roads in construction sections are likely to change, and high-precision maps are often not updated in a timely manner, resulting in inaccurate high-precision maps, these areas of the construction sections are usually circled as non-ODD areas in high-precision maps. However, small-scale construction such as repairing a small section of damaged road surface or repairing railings will not change the road, but the road will most likely return to its original state. If these small construction sections are circled as non-ODD areas, it will cause inconvenience to drivers, and reconfirming whether these areas are non-ODD areas requires a large number of test vehicles to retest and verify, which consumes a lot of manpower and material resources and is too costly. To address this problem, the embodiments of the present disclosure provide a non-ODD area verification method. The following is combined with Figure 1 The scenario shown illustrates this approach.

[0065] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present disclosure. Figure 1 As shown, the scene includes a vehicle 110, a vehicle computer 111, a camera 112, a laser radar 113, a server 120, and a target area 130. The vehicle 110 has entered the target area 130. Because the guardrail in the target area 130 is under construction and repair, the target area 130 is marked as a non-ODD area in the high-precision map.

[0066] Figure 2 This is a flow chart of a non-ODD area verification method provided by an embodiment of the present disclosure. The method is applied to a terminal, which is mounted on a vehicle, wherein the terminal specifically includes a vehicle computer, a vehicle computer, a domain controller, etc. Figure 1 The vehicle computer 111 shown can execute the method, which includes the following steps:

[0067] S201: Detect a vehicle entering a target area and collect perception data about the target area.

[0068] Since retesting and verifying the non-ODD areas by test vehicles consumes a lot of manpower and material resources and is too costly, the embodiment of the present disclosure uses vehicles passing through the non-ODD areas of the system to collect perception data of the non-ODD areas, and then transmits the perception data of the non-ODD areas back, so as to retest and verify the non-ODD areas through the transmitted perception data.

[0069] In one embodiment, when a vehicle is detected entering a target area, perception data about the target area is collected, including: obtaining positioning information of the vehicle; when the position represented by the positioning information is within the target area, obtaining perception data collected by the vehicle's sensor.

[0070] Exemplarily, during the driving of vehicle 110, vehicle computer 111 obtains the positioning information of vehicle 110 in real time. When the positioning information of vehicle 110 indicates that vehicle 110 is in target area 130, data collected by sensors of vehicle 110 is obtained. The target area 130 is marked as a non-ODD area in the high-precision map.

[0071] exist Figure 1 In the illustrated scene, the sensors of the vehicle 110 include a camera 112 and a laser radar 113, which are already mounted on the vehicle 110 and are commonly used perception sensors on the vehicle. The perception data about the target area 130 includes image data collected by the camera 112 and point cloud data collected by the laser radar 113, and the image data and the point cloud data are both perception data of the target area 130. It is understandable that any perception sensor can be selected to collect the perception data of the target area according to the needs, and the embodiments of the present disclosure are not limited to this.

[0072] The disclosed embodiment obtains perception data collected by the vehicle's sensors when the position represented by the vehicle's positioning information is within the target area. The perception data is the perception data of the target area, thereby eliminating the need to install additional equipment to collect the perception data of the target area and saving costs.

[0073] S202: Upload the perception data to a server so that the server generates a perception map of the target area according to the perception data.

[0074] Exemplarily, the vehicle computer 111 uploads the image data and point cloud data of the target area 130 to the server 120, so that the server 120 can generate a perception map of the target area 130 based on the image data and point cloud data of the target area 130. The perception map in the embodiment of the present disclosure is a map established based on the perception data of the target area. The server 120 can verify whether the target area 130 is a non-ODD area through the perception map of the target area 130.

[0075] The disclosed embodiment triggers the collection of perception data of the target area when a vehicle is detected passing through the target area, and uploads the perception data of the target area to a server, thereby eliminating the need to dispatch a test vehicle to collect the perception data of the target area, thereby saving costs when verifying the target area as a non-ODD area.

[0076] Figure 3 Another non-ODD area verification method provided by the embodiment of the present disclosure is applied to a server. Figure 1 The server 120 shown can perform the method, which includes the following steps:

[0077] S301. Receive perception data about a target area uploaded by a terminal, where the perception data is collected when a vehicle carrying the terminal enters the target area. The target area in the high-precision map has a non-ODD area label.

[0078] For example, refer to Figure 1 The server 120 receives the perception data of the target area 130 uploaded by the vehicle computer 111, including the image data collected by the camera 112 and the point cloud data collected by the laser radar 113.

[0079] In some embodiments, receiving the perception data about the target area uploaded by the terminal includes: searching for a storage space corresponding to the target area after receiving the perception data about the target area uploaded by the terminal; storing the perception data in the storage space, and marking the upload time of the perception data.

[0080] The server 120 may pre-allocate a corresponding storage space for the target area 130 , where the storage space is used to store the perception data of the target area 130 . In addition, the server 120 may also allocate a corresponding storage space for the target area in real time if the storage space corresponding to the target area is not found.

[0081] When receiving the perception data of the target area 130 uploaded by the vehicle computer 111, the server 120 searches for the storage space corresponding to the target area 130, and then stores the perception data uploaded by the vehicle computer 111 in the storage space, and marks the upload time of the perception data when storing the perception data. For example, the server 120 can create a folder for the perception data uploaded this time in the storage space corresponding to the target area 130, store the perception data in the folder, and mark the upload time of the perception data in the folder, so that the staff can subsequently perform source analysis on the non-ODD area verification of the target area this time.

[0082] S302: Generate a perception map of the target area according to the perception data.

[0083] After obtaining the perception data of the target area 130, the server 120 uses the perception data to generate a perception map of the target area 130. Specifically, the perception map can be constructed using SLAM (Simultaneous Localization and Mapping) technology. First, the collected data is positioned by multi-sensor fusion, and a preliminary map is formed by constructing a real geographical environment. During the SLAM process, the positioning algorithm updates the position and posture of the vehicle according to the sensor data, and establishes an initial map. Then the perception data is processed, for example, the position and features of targets such as traffic signs, lane lines, pedestrians, and traffic vehicles are extracted from the perception data through a deep learning model, and the extracted information can be used to update the map. After that, the map is integrated and updated, the new information extracted from the sensor data is integrated and updated with the initial map, and the map is refined using an algorithm to obtain a perception map of the target area 130. The algorithms and models involved in the construction of the perception map are all prior art, and the embodiments of the present disclosure are not repeated.

[0084] S303: Compare the perception map with the high-precision map of the target area to determine the degree of overlap between the perception map and the high-precision map of the target area.

[0085] The high-precision map of the target area 130 is the portion of the target area 130 that is circled as a non-ODD area in the high-precision map. After the server 120 finds the target area 130 in the high-precision map, it determines the overlap between the perceptual map and the high-precision map of the target area by comparing the perceptual map of the target area 130 with the high-precision map of the target area 130. For example, the ICP (Iterative Closest Point) algorithm can be used to compare the perceptual map of the target area 130 with the high-precision map of the target area 130. The ICP algorithm is a commonly used point cloud registration algorithm that can be used to evaluate the overlap between the perceptual map and the high-precision map. Specifically, the ICP algorithm is first used to calculate the distance difference between the feature points in the perceptual map and the corresponding points in the high-precision map, and then the minimization function is used to find the degree of translation and rotation to minimize these errors. Finally, the error function is used to calculate the error and matching score to evaluate the overlap between the perceptual map and the high-precision map.

[0086] S304: Compare the degree of overlap with a preset threshold to determine a verification result of the target area.

[0087] The server 120 determines the non-ODD area verification result of the target area 130 based on the overlap between the perception map of the target area 130 and the high-precision map of the target area 130. For example, a overlap threshold can be preset, and the setting of the overlap threshold focuses on the proportion of roads in the map, and also needs to consider the noise in the perception map. When the overlap between the perception map of the target area 130 and the high-precision map is greater than the overlap threshold, it indicates that the target area 130 has not changed the road due to the construction and repair of the guardrail. In this way, the non-ODD area verification result of the target area 130 is determined to be passed, indicating that the target area 130 does not belong to the non-ODD area. When the overlap between the perception map of the target area 130 and the high-precision map is less than or equal to the overlap threshold, it indicates that the road in the target area 130 is different from the road recorded in the high-precision map and has changed. In this way, the non-ODD area verification result of the target area 130 is determined to be failed, indicating that the target area 130 belongs to the non-ODD area.

[0088] S305. If the verification result indicates that the target area is an ODD area, the non-ODD area label of the target area in the high-precision map is cancelled.

[0089] When the non-ODD area verification result of the target area 130 indicates that the target area 130 is an ODD area, that is, the target area 130 is not a non-ODD area, the non-ODD area label of the target area 130 in the high-precision map is cancelled, and the target area 130 is no longer circled as a non-ODD area label in the high-precision map. For example, if the non-ODD area verification result of the target area 130 is passed, the label that circles the target area 130 as a non-ODD area is cancelled in the high-precision map.

[0090] When the non-ODD area verification result of the target area 130 indicates that the target area 130 is a non-ODD area, the target area 130 is still circled as a non-ODD area in the high-precision map. For example, if the non-ODD area verification result of the target area 130 is not passed, the target area 130 is still circled as a non-ODD area in the high-precision map.

[0091] The disclosed embodiment introduces perception data of the target area uploaded by the terminal, then establishes a perception map of the target area based on the perception data, compares the perception map of the target area with a high-precision map of the target area to determine the overlap between the two, and finally verifies whether the target area is a non-ODD area based on the overlap between the perception map of the target area and the high-precision map of the target area. If the verification result shows that the target area is an ODD area, the non-ODD area label of the target area is cancelled in the high-precision map, so that the non-ODD area can be verified without the need for a test vehicle, thereby reducing the cost of verifying the non-ODD area.

[0092] In some embodiments, the degree of overlap is compared with a preset threshold to determine a verification result of the target area, including: if the degree of overlap is higher than the preset threshold, generating a review message for the target area; and in response to a processing operation on the review message, determining a verification result corresponding to the processing operation.

[0093] In the disclosed embodiment, in order to make the verification result of the non-ODD area more accurate, when the overlap between the perception map and the high-precision map of the target area is greater than the preset overlap threshold, a review message of the target area is generated to remind the staff to review, and the review message includes the information of the perception map and the high-precision map of the target area, as well as the options of review pass and review fail. If the staff reviews and confirms that the target area is not a non-ODD area, the review pass option will be selected in the review message, and the verification result corresponding to the processing operation will be passed, otherwise the verification result corresponding to the processing operation will be failed.

[0094] In one embodiment, generating a review message for a target area includes: marking the overlapping area between the perception map and the high-precision map of the target area, generating a review message including the overlapping area and the degree of overlap; and displaying the review message in the target area in the high-precision map.

[0095] To facilitate manual review, the server can mark the overlapping areas between the perception map and the high-precision map of the target area, and then generate a review message based on the perception map with the overlapping areas and the high-precision map of the target area, and annotate the overlap between the two in the review message, so that the staff can view the overlapping areas and overlap between the perception map and the high-precision map of the target area in the review message, and quickly conduct manual review. After generating the review message, the server displays the review message in the target area of ​​the high-precision map. For example, the review message can be the marked point information popped up in the target area of ​​the high-precision map, and the staff can view the review message by clicking the marked point information in the target area of ​​the high-precision map.

[0096] The disclosed embodiment generates a review message for the target area when the degree of overlap between the perception map and the high-precision map of the target area is greater than a preset threshold, so as to remind the staff to manually review the non-ODD area verification of the target area, and then determines the verification result corresponding to the processing operation based on the staff's processing operation on the review message, thereby making the verification result of the non-ODD area verification more accurate and reducing the misjudgment caused by machine verification.

[0097] In some embodiments, the method also includes: if the overlap is less than a preset threshold, recording the terminal that uploads the perception data; when the number of terminals recorded within the first preset time period is greater than a preset number, sending a stop collection instruction for the target area to the terminal, and the stop collection instruction is used to instruct the terminal to stop collecting perception data about the target area within a second preset time.

[0098] When the overlap between the perception map and the high-precision map of the target area is less than a preset threshold, it indicates that the construction in the target area has changed the roads in the target area, the current actual scene of the target area is different from the actual scene recorded in the high-precision map, and the non-ODD area verification result of the target area also indicates that the target area is a non-ODD area. At this time, the terminal that uploaded the perception data of the target area is recorded. If multiple terminals upload the perception data of the target area within the first preset time period, and the non-ODD area verification results obtained based on the perception data of the target area uploaded by multiple terminals all indicate that the target area is a non-ODD area, it can be considered that the construction in the target area is continuously changing the roads in the target area. At this time, a stop collection instruction is sent to all terminals, so that all terminals stop collecting perception data about the target area within the second preset time to prevent the collection of a large amount of useless data and waste of resources.

[0099] For example, the first preset period is set to 1 day, the preset number is set to 1, and the second preset time is set to one week. When vehicle A passes through the target area in the morning of the day, the vehicle A1 of vehicle A uploads the perception data A2 of the target area. When vehicle B passes through the target area in the morning, the vehicle B1 of vehicle B uploads the perception data B2 of the target area. If the non-ODD area verification results of the target area obtained based on the perception data A2 and the perception data B2 are both that the target area is a non-ODD area, and the number of terminals recorded at this time is 2, which is greater than the preset number 1, then an instruction to stop collecting the perception data of the target area in the next week is sent to all terminals. In addition, whether to send an instruction to stop collecting the perception data of the target area can also be determined by comparing whether the perception data A2 and the perception data B2 are consistent. When the perception data A2 and the perception data B2 are inconsistent, it indicates that the target area is changing due to construction. At this time, all terminals are asked to stop collecting the perception data of the target area. That is to say, when the data collected by two different terminals are inconsistent, the perception data of the target area will no longer be collected within one week.

[0100] The disclosed embodiment records the terminals that upload perception data when the overlap between the perception map and the high-precision map of the target area is less than a preset threshold, and then sends instructions to all terminals to stop collecting perception data of the target area when the number of different terminals recorded within a first preset time period is greater than a preset number, so that all terminals stop collecting perception data about the target area within a second preset time, thereby preventing the collection of a large amount of useless data and wasting resources.

[0101] In some embodiments, if the verification result characterizes that the target area is an ODD area, the non-ODD area label of the target area in the high-precision map is canceled, including: if the verification result corresponding to the processing operation is that the verification is passed, the target area is determined to be an ODD area, and the target area is recorded in a cancellation list; in response to a cancel operation on the selected target area in the cancellation list, the non-ODD area label of the selected target area is canceled in the high-precision map.

[0102] When the verification result of the target area is passed, the target area is determined to be an ODD area, and the target area is recorded in the cancellation list, so that the staff can select the passed target area in the cancellation list and batch cancel the non-ODD area labels corresponding to the selected target areas in the high-precision map.

[0103] The disclosed embodiment determines that the target area is an ODD area when the verification result of the target area is passed, and records the target area into a cancellation list at the same time, so that the staff can batch cancel the non-ODD area labels corresponding to the target areas in the high-precision map in the cancellation list, thereby making the staff's operation more convenient.

[0104] In some embodiments, the method also includes: determining the regional circle to which the target area belongs; searching for a statistical list corresponding to the regional circle, the statistical list including a first statistical column and a second statistical column; entering a record of canceling the non-ODD area label of the target area in the second statistical column; wherein the first statistical column includes records of non-ODD areas in the regional circle, and the second statistical column includes records of non-ODD areas in the regional circle whose non-ODD area labels have been canceled.

[0105] The embodiment of the present disclosure provides a statistical list corresponding to a region circle, wherein the first statistical column in the statistical list counts the records of non-ODD regions included in the region circle, and the second statistical column in the statistical list counts the records of regions in the region circle that have cancelled the non-ODD region label, thereby clearly indicating the number of non-ODD regions in the region circle and the statistics of newly added or cancelled non-ODD regions. In addition, the statistics of newly added or cancelled non-ODD regions can also be indicated by drawing a bar chart or a line chart corresponding to the statistical list.

[0106] The disclosed embodiment determines the regional circle to which the target area belongs after canceling the non-ODD area label of the target area in the high-precision map, and then enters the record of canceling the non-ODD area label of the target area into the statistical list corresponding to the regional circle. The statistical list clearly shows the number of non-ODD areas in the regional circle and the statistics of the addition or cancellation of non-ODD areas.

[0107] Figure 4The schematic diagram of the structure of a non-ODD area verification device provided in an embodiment of the present disclosure. The non-ODD area verification device can be implemented in software and / or hardware. The device can be a terminal as described in the above embodiment, or the device can be a component or assembly in the terminal. The non-ODD area verification device provided in an embodiment of the present disclosure can execute the processing flow provided in the above-mentioned non-ODD area verification method embodiment applied to the terminal, such as Figure 4 As shown, the non-ODD area verification device 400 includes:

[0108] The acquisition module 401 is used to acquire the sensing data about the target area when a vehicle is detected to enter the target area;

[0109] The uploading module 402 is used to upload the perception data to the server so that the server generates a perception map of the target area according to the perception data.

[0110] In some embodiments, when the acquisition module 401 detects that a vehicle has entered a target area and collects perception data about the target area, it is specifically used to obtain the positioning information of the vehicle; when the position represented by the positioning information is within the target area, the perception data collected by the vehicle's sensors is obtained.

[0111] Figure 4 The non-ODD area verification device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned non-ODD area verification method embodiment for a terminal, and its implementation principle and technical effect are similar and will not be repeated here.

[0112] Figure 5 A schematic diagram of the structure of another non-ODD area verification device provided in an embodiment of the present disclosure. The non-ODD area verification device can be implemented in software and / or hardware. The device can be a server as described in the above embodiment, or the device can be a component or assembly in the server. The non-ODD area verification device provided in an embodiment of the present disclosure can execute the processing flow provided in the above non-ODD area verification method embodiment applied to the server, such as Figure 5 As shown, the non-ODD area verification device 500 includes:

[0113] The receiving module 501 is used to receive the perception data about the target area uploaded by the terminal. The perception data is collected when the vehicle carrying the terminal enters the target area. The target area in the high-precision map has a non-ODD area label;

[0114] A generating module 502, configured to generate a perception map of a target area according to the perception data;

[0115] A comparison module 503 is used to compare the perception map with the high-precision map of the target area to determine the degree of overlap between the perception map and the high-precision map of the target area;

[0116] A verification module 504, used to compare the overlap degree with a preset threshold value to determine a verification result of the target area;

[0117] The cancellation module 505 is used to cancel the non-ODD area label of the target area in the high-precision map if the verification result shows that the target area is an ODD area.

[0118] In some embodiments, when the receiving terminal uploads the perception data about the target area, the receiving module 501 is specifically used to search for the storage space corresponding to the target area; store the perception data in the storage space, and mark the upload time of the perception data.

[0119] In some embodiments, when the comparison module 503 compares the degree of overlap with a preset threshold to determine the verification result of the target area, it is specifically used to generate a verification message for the target area if the degree of overlap is higher than the preset threshold; in response to the processing operation on the verification message, determine the verification result corresponding to the processing operation.

[0120] In some embodiments, when generating a review message for a target area, the comparison module 503 is specifically used to mark the overlapping area between the perception map and the high-precision map of the target area, and generate a review message including the overlapping area and the degree of overlap; and display the review message in the target area in the high-precision map.

[0121] In some embodiments, the device also includes an indication module 506, which is used to record the terminal that uploads the perception data if the overlap is less than a preset threshold; when the number of terminals recorded within the first preset time period is greater than a preset number, a stop collection instruction for the target area is sent to the terminal, and the stop collection instruction is used to instruct the terminal to stop collecting perception data about the target area within a second preset time.

[0122] In some embodiments, when the verification result characterizes that the target area is an ODD area, the cancellation module 505 cancels the non-ODD area label of the target area in the high-precision map. Specifically, when the verification result corresponding to the processing operation is passed, the target area is determined to be an ODD area, and the target area is recorded in a cancellation list; in response to a cancellation operation on a selected target area in the cancellation list, the non-ODD area label of the selected target area is canceled in the high-precision map.

[0123] In some embodiments, the device also includes a statistical module 507, which is used to determine the regional circle to which the target area belongs; search for a statistical list corresponding to the regional circle, the statistical list including a first statistical column and a second statistical column; enter a record of canceling the non-ODD area label of the target area in the second statistical column; wherein the first statistical column includes records of non-ODD areas in the regional circle, and the second statistical column includes records of non-ODD areas in the regional circle whose non-ODD area labels have been canceled.

[0124] Figure 5 The non-ODD area verification device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned non-ODD area verification method embodiment for the server, and its implementation principle and technical effect are similar, which will not be repeated here.

[0125] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the data synchronization method shown in any one of the above embodiments.

[0126] It can be understood that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0127] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A non-ODD area verification method, applied to a server, characterized in that: include: Receiving perception data about a target area uploaded by a terminal, wherein the perception data is collected when a vehicle carrying the terminal enters the target area, and the target area in the high-precision map has a non-ODD area label; generating a perception map of the target area according to the perception data; Comparing the perception map with the high-precision map of the target area to determine the degree of overlap between the perception map and the high-precision map of the target area; Comparing the overlap degree with a preset threshold value to determine a verification result of the target area; If the verification result indicates that the target area is an ODD area, the non-ODD area label of the target area is cancelled in the high-precision map.

2. The method according to claim 1, characterized in that After receiving the perception data about the target area uploaded by the terminal, the method further includes: When receiving the sensing data about the target area uploaded by the terminal, searching for a storage space corresponding to the target area; The perception data is stored in the storage space, and the upload time of the perception data is marked.

3. The method according to claim 1, characterized in that The comparing the overlap degree with a preset threshold value to determine the verification result of the target area includes: If the overlap degree is higher than a preset threshold, generating a review message of the target area; In response to a processing operation on the review message, a verification result corresponding to the processing operation is determined.

4. The method according to claim 3, characterized in that The generating of the review message of the target area includes: marking an overlapped area between the perception map and the high-precision map of the target area, and generating a review message including the overlapped area and the overlap degree; The review message is displayed in the target area in the high-precision map.

5. The method according to claim 3, characterized in that The method further comprises: If the overlap is less than a preset threshold, recording the terminal that uploaded the sensing data; When the number of the terminals recorded within the first preset time period is greater than the preset number, a stop collection instruction for the target area is sent to the terminal, and the stop collection instruction is used to instruct the terminal to stop collecting perception data about the target area within a second preset time.

6. The method according to claim 3, characterized in that If the verification result indicates that the target area is an ODD area, canceling the non-ODD area label of the target area in the high-precision map includes: If the verification result corresponding to the processing operation is passed, determining that the target area is an ODD area, and recording the target area in a cancellation list; In response to a cancel operation on the selected target area in the cancellation list, the non-ODD area label of the selected target area is canceled in the high-precision map.

7. The method according to claim 1, characterized in that The method further comprises: Determine the region circle to which the target area belongs; Searching for a statistical list corresponding to the regional circle, the statistical list comprising a first statistical column and a second statistical column; Entering a record of canceling the non-ODD area label of the target area in the second statistics column; The first statistics column includes records of non-ODD areas in the regional circle, and the second statistics column includes records of non-ODD areas in the regional circle whose non-ODD area labels have been canceled.

8. A non-ODD area verification method, applied to a terminal, the terminal being mounted on a vehicle, characterized in that: The method comprises: Detecting a vehicle entering a target area, collecting perception data about the target area, The perception data is uploaded to a server so that the server generates a perception map of the target area according to the perception data.

9. The method according to claim 8, characterized in that When the vehicle is detected to enter the target area, the sensing data about the target area is collected, including: Obtaining positioning information of the vehicle; When the position represented by the positioning information is within the target area, perception data collected by the sensor of the vehicle is acquired.

10. A non-ODD area verification device, applied to a server, characterized in that: include: A receiving module, used for receiving the perception data about the target area uploaded by the terminal, wherein the perception data is collected when the vehicle carrying the terminal enters the target area, and the target area in the high-precision map has a non-ODD area label; A generating module, configured to generate a perception map of the target area according to the perception data; A comparison module, used to compare the perception map with the high-precision map of the target area to determine the degree of overlap between the perception map and the high-precision map of the target area; A verification module, used to compare the overlap degree with a preset threshold value to determine a verification result of the target area; The cancellation module is used to cancel the non-ODD area label of the target area in the high-precision map if the verification result is that the target area is an ODD area.

11. A non-ODD area verification device, applied to a terminal, the terminal being mounted on a vehicle, characterized in that: The device comprises: A collection module, used to collect perception data about the target area when a vehicle is detected entering the target area; The uploading module is used to upload the perception data to a server so that the server generates a perception map of the target area according to the perception data.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 or 8 to 9 is implemented.

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