Map data acquisition method and device, electronic equipment and storage medium

Abstract

The invention discloses a map data acquisition method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a map acquisition request; based on the acquisition area information, acquiring a map acquisition route and issuing the map acquisition route to the acquisition vehicle; in response to the acquisition starting request, checking whether the configuration of the acquisition vehicle is correct or not; if yes, a starting instruction is fed back to the collection vehicle; in response to the acquisition ending request, checking whether the high-precision map data acquired by the acquisition vehicle is abnormal or not; and if not, returning the high-precision map data acquired by the acquisition vehicle to the cloud. According to the method provided by the invention, automatic series connection of requirements, route planning, acquisition and data return can be realized, cross-team personnel communication and tedious operation steps are solved, and the acquisition efficiency is greatly improved; meanwhile, software and hardware preparation before collection, abnormity in collection and collected data are checked in time, and it is ensured that high-quality data can be collected.

Description

Technical Field

[0001] The present application belongs to the technical field of unmanned driving map data collection, and specifically relates to a map data collection method, device, electronic device and storage medium. Background Art

[0002] Existing autonomous driving systems for autonomous vehicles are unable to recognize many scenarios or experience significant errors, necessitating a reliance on high-precision map data, especially for Level 4 autonomous vehicles. Currently, high-precision maps for autonomous driving are primarily collected by specialized HD map collection vehicles, which require dedicated map collection personnel. In some cases, when operational vehicles are used for map data collection, personnel are required to monitor the entire collection process both remotely and near-field, and professional map collection personnel are also required. This results in high collection costs and low efficiency, hindering the efficient and low-cost collection and updating of HD map data. Summary of the Invention

[0003] The purpose of this application is to provide a map data collection method, device, electronic device and storage medium to solve the technical problems of low collection efficiency and high collection cost of high-precision maps in the existing technology.

[0004] To achieve the above objectives, the present application provides a first aspect of a map data collection method, comprising: Obtaining a map collection request, wherein the map collection request includes collection area information, collection vehicle information, and collection personnel information; Based on the collection area information, a map collection route is obtained and sent to the collection vehicle; In response to a start collection request, checking whether the configuration of the collection vehicle is correct; If yes, a start instruction is fed back to the collection vehicle, so that the collection personnel drive the collection vehicle to start performing the collection task, where the collection task is to collect high-precision map data along the map collection route; In response to the end collection request, checking whether the high-precision map data collected by the collection vehicle is abnormal; If not, the high-precision map data collected by the collection vehicle is transmitted back to the cloud.

[0005] In one or more embodiments, the step of acquiring a map collection route based on the collection area information includes: Based on the acquisition area information, obtaining an acquisition area code; Based on the acquisition area code, the map acquisition route is obtained by indexing in a database, and the mapping relationship between the acquisition area code and the map acquisition route is stored in the database.

[0006] In one or more embodiments, the step of checking whether the configuration of the collection vehicle is correct in response to the start collection request includes: Obtain the data channel status with the acquisition vehicle and determine whether it is normal; If so, determining whether the RTK configuration information of the acquisition vehicle is normal; If so, determining whether the positioning status of the acquisition vehicle is normal; If so, determining whether the remaining disk space of the acquisition vehicle is greater than a first threshold; If so, determining whether the image acquisition program version of the acquisition vehicle is the specified version; If so, the configuration of the collection vehicle is correct; The first threshold is the maximum data capacity of the high-precision map data of the map collection route.

[0007] In one or more embodiments, further comprising: When the collection personnel drive the collection vehicle to perform the collection task, monitoring the status of the collection vehicle in real time; When the state of the collection vehicle is abnormal, an alarm message is sent.

[0008] In one or more embodiments, the step of real-time monitoring of the state of the collected vehicle is specifically as follows: The vehicle trajectory, coordinates, time, remaining disk space and collected environmental images of the collection vehicle are obtained in real time.

[0009] In one or more embodiments, when the state of the collection vehicle is abnormal, the step of sending an alarm message to the collection vehicle is specifically: When the remaining space on the disk of the collection vehicle is lower than a second threshold, sending an alarm message; When the data channel status with the collection vehicle is abnormal, an alarm message is sent; The second threshold is a preset value or a maximum data capacity of the remaining high-precision map data of the map collection route.

[0010] In one or more embodiments, the step of checking whether the high-precision map data collected by the acquisition vehicle is abnormal is specifically as follows: Check whether the HD map data has IMU delay and point cloud data loss; If not, there is no abnormality in the high-precision map data.

[0011] In order to achieve the above-mentioned purpose, the second aspect of the present application provides a map data collection device, comprising: A request acquisition module is used to obtain a map acquisition request, wherein the map acquisition request includes acquisition area information, acquisition vehicle information, and acquisition personnel information; A route sending module is used to obtain a map collection route based on the collection area information and send it to the collection vehicle; A self-checking module, configured to check whether the configuration of the collection vehicle is correct in response to a collection start request; A collection start module is used to feed back a start instruction to the collection vehicle when the configuration of the collection vehicle is correct, so that the collection personnel can drive the collection vehicle to start performing the collection task, wherein the collection task is to collect high-precision map data along the map collection route; A data checking module, configured to check whether the high-precision map data collected by the collection vehicle has any anomalies in response to a request to end collection; The data return module is used to return the high-precision map data collected by the collection vehicle to the cloud when there is no abnormality in the high-precision map data collected by the collection vehicle.

[0012] In order to achieve the above-mentioned object, the third aspect of the present application provides an electronic device, including: at least one processor; and A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the map data collection method as described in any one of the above embodiments.

[0013] In order to achieve the above-mentioned objectives, the fourth aspect of the present application provides a machine-readable storage medium storing executable instructions, which, when executed, enable the machine to execute the map data collection method as described in any of the above-mentioned embodiments.

[0014] Different from the prior art, the present invention has the following advantages: The method of this application can realize the automated connection of demand, route planning, collection, and data return, eliminating the need for cross-team personnel communication and tedious operation steps, greatly improving collection efficiency. At the same time, timely inspections are carried out for pre-collection software and hardware preparation, anomalies during collection, and collected data to ensure that high-quality data can be collected. The method of this application can use mass-produced operating vehicles to collect map data. Since the collection system has a high degree of automation, it does not require professional map personnel to participate in the collection. It supports collection from multiple terminals and users can use it out of the box, which greatly improves the delivery efficiency of large-scale L4 unmanned vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a flowchart of an implementation method of the map data collection method of the present application; Figure 2 This is a schematic diagram of an implementation method of the collection task creation page of this application; Figure 3 yes Figure 1 A schematic flow chart of an implementation method corresponding to S200; Figure 4 It is a schematic diagram of an implementation method of a map collection route of the present application; Figure 5 yes Figure 1 A schematic flow chart of an implementation method corresponding to S300; Figure 6 It is a schematic diagram of an implementation method of the self-test result of this application; Figure 7 This is a schematic diagram of an implementation method of an alarm message when an abnormality exists in the high-precision map data of the present application; Figure 8 It is a schematic diagram of an implementation method of alarm information during the collection process of this application; Figure 9 This is a schematic diagram of an implementation method of the map data collection method of the present application deployed on a map collection system on a PC; Figure 10 This is a structural diagram of an embodiment of the map data acquisition device of the present application; Figure 11 It is a structural diagram of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0018] Autonomous driving software systems typically include several modules, including perception, positioning, decision-making and planning, control, mapping, prediction, and simulation. Because existing autonomous driving systems are unable to recognize many scenarios or experience significant errors, they rely on high-precision map data, which is a crucial foundation for each module to function. For example, HD maps provide the autonomous driving software system with lane information within the environment.

[0019] Currently, high-precision maps used in autonomous driving are mainly collected by professional high-precision map collection vehicles, and professional map collection personnel are required. In some cases, when operating vehicles are used to collect map data, staff are required to monitor the entire collection process remotely and near-field, and professional map collection personnel are also required to participate. The collection cost is high and the collection efficiency is low, which is not conducive to the efficient and low-cost collection and updating of high-precision map data.

[0020] In order to solve the above problems, the applicant has developed a map data collection method, which provides an automated map collection platform and tool chain, greatly reducing collection costs and improving collection efficiency.

[0021] Specifically, the map data collection method of the present application is applied to a remote controller. By receiving the collection target information input by the user, it can interact with the corresponding collection vehicle, including sending collection routes, starting collection, and ending collection instructions to the collection vehicle, monitoring the status of the collection vehicle, and controlling the return of collected data, etc.

[0022] The following is a detailed description of the technical solution of this application. Figure 1 , Figure 1 It is a flowchart of an implementation method of the map data collection method of the present application.

[0023] like Figure 1 As shown, the method includes: S100: Obtain a map collection request.

[0024] The map collection request includes collecting area information, collecting vehicle information and collecting personnel information.

[0025] First, the map collection request input by the user can be obtained. The user can enter the collection area where the high-precision map needs to be collected on the collection task creation page, and specify the collection vehicle and collection personnel to perform the task.

[0026] For example, see Figure 2 , Figure 2 This is a schematic diagram of an implementation method of the collection task creation page of this application. Users can select information such as the operating area, collection type, vehicle, etc., and then generate a map collection request.

[0027] Among them, the collection vehicle can be an operating vehicle equipped with a high-precision map collection system, or it can be a dedicated high-precision map collection vehicle, both of which can achieve the effect of this embodiment.

[0028] In one embodiment, the high-precision map acquisition system may include a lidar, a high-precision global navigation satellite system (GNSS), an inertial measurement unit (IMU), and a camera.

[0029] Among them, lidar is used to collect three-dimensional point cloud data of the surrounding environment; GNSS is used to provide absolute positioning for the vehicle through RTK real-time dynamic positioning; IMU is used to measure vehicle acceleration and angular velocity, compensate for positioning drift when GNSS signal is lost (such as tunnels and urban canyons), and integrate with GNSS to achieve high-precision inertial navigation; cameras are used to capture visual semantic information (traffic signs, lane line color, signal light status) and assist in point cloud data classification (such as distinguishing between stationary objects and dynamic obstacles).

[0030] S200: Based on the collection area information, obtain the map collection route and send it to the collection vehicle.

[0031] Based on the collection area information specified by the user, the corresponding map collection route can be obtained and sent to the collection vehicle.

[0032] Specifically, in one embodiment, on-site personnel with different collection area information can pre-survey the route and draw the route on the platform. The database can store the route information. After the user specifies the collection area information, the corresponding route stored in the database can be called to obtain the map collection route.

[0033] Specifically, see Figure 3 , Figure 3 yes Figure 1 A flow chart of an implementation method corresponding to S200.

[0034] like Figure 3 As shown, the method for obtaining a map collection route includes: S201. Obtain a collection area code based on collection area information.

[0035] In one embodiment, each acquisition area may be encoded, and a corresponding acquisition area code may be obtained based on the acquisition area information.

[0036] S202: Based on the collection area code, obtain the map collection route by indexing in the database.

[0037] The database stores the mapping relationship between the acquisition area code and the map acquisition route.

[0038] For example, see Figure 4 , Figure 4 It is a schematic diagram of an implementation method of the map collection route of the present application, which corresponds to the delivery area covered by an express operation outlet.

[0039] S300: In response to the start collection request, check whether the configuration of the collection vehicle is correct.

[0040] After the user sends a request to start collecting data, the collecting vehicle can be self-checked to ensure that subsequent collection work can proceed smoothly.

[0041] Specifically, the self-check of the acquisition vehicle may include both software configuration and hardware configuration. For example, the RTK configuration, positioning status, data channel status, disk space, acquisition program version and other information of the acquisition vehicle may be checked.

[0042] For example, in one embodiment, see Figure 5 , Figure 5 yes Figure 1 A flow chart of an implementation method corresponding to S300.

[0043] like Figure 5 As shown, methods for checking whether the configuration of the acquisition vehicle is correct may include: S301: Obtain and collect the data channel status of the vehicle and determine whether it is normal.

[0044] If yes, then: S302: Determine whether the RTK configuration information of the collected vehicle is normal.

[0045] If yes, then: S303: Determine whether the positioning status of the collected vehicle is normal.

[0046] If yes, then: S304: Determine whether the remaining disk space of the collected vehicle is greater than a first threshold.

[0047] Among them, the first threshold can be the maximum data capacity of the high-precision map data of the map collection route obtained based on the length of the map collection route, and can be adjusted based on actual working conditions to avoid the problem of insufficient disk space to store the collected high-precision map data.

[0048] If yes, then: S305: Determine whether the map acquisition program version of the acquisition vehicle is a specified version.

[0049] If yes, then: S306. The configuration of the collection vehicle is correct.

[0050] It is understandable that, in the above checking step, once it is found that the configuration of the collection vehicle is incorrect, the system can send an alarm message including the configuration error item. For example, please refer to Figure 6 , Figure 6 It is a schematic diagram of an implementation method of the self-test result of this application.

[0051] like Figure 6 As shown in FIG, during the self-inspection process of the collection vehicle, due to an abnormality in the positioning status of the collection vehicle, the system sends a corresponding alarm message, so that relevant personnel can quickly locate the cause of the fault and perform a quick repair.

[0052] When the configuration of the collection vehicle is correct, then: S400: Feedback a start instruction to the collection vehicle.

[0053] After the collection vehicle receives the start command, the collection personnel can drive the collection vehicle to start the collection task. The collection task is specifically to drive along the map collection route to collect high-precision map data.

[0054] S500: In response to the collection end request, check whether the high-precision map data collected by the collection vehicle is abnormal.

[0055] When the collection is completed or the user actively ends the collection task, in order to avoid invalid data being transmitted back and occupying data channels and storage space, the high-precision map data collected by the collection vehicle can be checked.

[0056] Specifically, the inspection content may include checking whether there is IMU delay and point cloud data loss in the HD map data. If so, the HD map data is judged to be invalid data with abnormalities. In this case, no return is made and an alarm message is sent. Please refer to Figure 7 , Figure 7 This is a schematic diagram of an implementation method of the alarm information when there is an abnormality in the high-precision map data of the present application.

[0057] If the above problems do not exist and it is determined that there is no anomaly in the HD map data, then: S600, transmits the high-precision map data collected by the vehicle back to the cloud.

[0058] In one embodiment, in order to monitor the collection process in real time and promptly remind of abnormal situations, the method further includes: S700: When a collection personnel drives a collection vehicle to perform a collection task, the status of the collection vehicle is monitored in real time.

[0059] Specifically, real-time monitoring and acquisition of the vehicle status may specifically include: acquiring the vehicle track, coordinates, time, remaining disk space, and acquired environmental images of the vehicle in real time.

[0060] S800: When the status of the collected vehicle is abnormal, an alarm message is sent.

[0061] Specifically, the abnormal state may include: the remaining disk space of the collection vehicle is lower than a second threshold, and the data channel state with the collection vehicle is abnormal.

[0062] Among them, the second threshold can be a fixed value set by the user, or it can be a dynamic value obtained based on the judgment of the remaining map collection routes, that is, the maximum data capacity of the high-precision map data of the remaining map collection routes; when the remaining disk space is lower than the second threshold, it can be determined that the high-precision map data cannot be completely stored on the disk of the collection vehicle.

[0063] See also Figure 8 , Figure 8 This is a schematic diagram of an implementation method of the alarm information in the collection process of this application. After the user receives the alarm information, he can process it in time to ensure that the collection task goes smoothly.

[0064] The map data collection method based on the above-mentioned implementation methods can realize the automated connection of demand, route planning, collection, and data return, solve the communication problems between personnel across teams and tedious operation steps, and greatly improve the collection efficiency; at the same time, timely inspections are carried out on the software and hardware preparation before collection, anomalies during collection, and collected data to ensure that high-quality data can be collected.

[0065] In addition, the method of this application can use mass-produced operating vehicles to collect map data. Due to the high degree of automation of the collection system, professional map personnel are not required to participate in the collection. It supports collection on multiple terminals and users can use it out of the box, which greatly improves the delivery efficiency of large-scale L4 unmanned vehicles. For example, please refer to Figure 9 , Figure 9 It is a schematic diagram of an implementation method of the map data collection method of the present application deployed on a map collection system on a PC.

[0066] This application also provides a map data collection device, see Figure 10 , Figure 10 It is a structural diagram of an embodiment of the map data acquisition device of the present application.

[0067] like Figure 10 As shown, the device includes a request acquisition module 21, a route issuing module 22, a self-checking module 23, a start collection module 24, a data checking module 25 and a data return module 26.

[0068] The request acquisition module 21 is used to acquire a map acquisition request, which includes acquisition area information, acquisition vehicle information, and acquisition personnel information; The route sending module 22 is used to obtain the map collection route based on the collection area information and send it to the collection vehicle; The self-check module 23 is used to check whether the configuration of the collection vehicle is correct in response to the start collection request; The start collection module 24 is used to feed back a start instruction to the collection vehicle when the collection vehicle is configured correctly, so that the collection personnel can drive the collection vehicle to start the collection task. The collection task is to collect high-precision map data along the map collection route. The data checking module 25 is used to check whether there is any abnormality in the high-precision map data collected by the collection vehicle in response to the end collection request; The data return module 26 is used to return the high-precision map data collected by the collection vehicle to the cloud when there is no abnormality in the high-precision map data collected by the collection vehicle.

[0069] As above Figures 1 to 9 , a map data collection method according to an embodiment of this specification is described. The details mentioned in the above description of the method embodiment also apply to the map data collection device according to the embodiment of this specification. The above map data collection device can be implemented using hardware, software, or a combination of hardware and software.

[0070] This application also provides an electronic device, see Figure 11 , Figure 11 This is a schematic diagram of the structure of an embodiment of the electronic device of the present application. Figure 11 As shown, the electronic device 30 may include at least one processor 31, a memory 32 (e.g., a non-volatile memory), a storage 33, and a communication interface 34, and the at least one processor 31, the storage 32, the storage 33, and the communication interface 34 are connected together via a bus 35. The at least one processor 31 executes at least one computer-readable instruction stored or encoded in the storage 32.

[0071] It should be understood that the computer executable instructions stored in the memory 32, when executed, cause at least one processor 31 to perform the above combined operations in various embodiments of this specification. Figures 1-9 Describes the various operations and functions.

[0072] In the embodiments of the present specification, the electronic device 30 may include but is not limited to: a personal computer, a server computer, a workstation, a desktop computer, a laptop computer, a notebook computer, a mobile electronic device, a smart phone, a tablet computer, a cellular phone, a personal digital assistant (PDA), a handheld device, a messaging device, a wearable electronic device, a consumer electronic device, and the like.

[0073] According to one embodiment, a program product such as a machine-readable medium is provided. The machine-readable medium may have instructions (i.e., the above-mentioned elements implemented in software form), which, when executed by a machine, causes the machine to perform the above-mentioned combined embodiments of the present specification. Figure 1-Figure 5 Specifically, a system or device equipped with a readable storage medium can be provided, on which software program codes for implementing the functions of any of the above-mentioned embodiments are stored, and a computer or processor of the system or device can be enabled to read and execute the instructions stored in the readable storage medium.

[0074] In this case, the program code itself read from the machine-readable medium can implement the functions of any one of the above embodiments, and thus the machine-readable code and the machine-readable storage medium storing the machine-readable code constitute part of this specification.

[0075] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-Rs, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD-RWs), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or a cloud via a communication network.

[0076] Those skilled in the art will appreciate that the various embodiments disclosed above may be modified and altered in various ways without departing from the essence of the invention. Therefore, the scope of protection of this specification shall be defined by the appended claims.

[0077] It should be noted that not all steps and units in the above processes and system structure diagrams are required, and certain steps or units can be omitted according to actual needs. The execution order of each step is not fixed and can be determined as needed. The device structure described in the above embodiments can be a physical structure or a logical structure, that is, some units may be implemented by the same physical client, or some units may be implemented by multiple physical clients, or may be implemented by certain components in multiple independent devices.

[0078] In the above embodiments, hardware unit or module can be realized by mechanical means or electrical means. For example, a hardware unit, module or processor can include permanent dedicated circuit or logic (such as special processor, FPGA or ASIC) to complete the corresponding operation. Hardware unit or processor can also include programmable logic or circuit (such as general purpose processor or other programmable processor), can be temporarily set up to complete the corresponding operation by software. Concrete implementation (mechanical means or dedicated permanent circuit or temporary circuit) can be determined based on cost and time consideration.

[0079] The specific embodiments described above in conjunction with the accompanying drawings describe exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of protection of the claims. The term "exemplary" used throughout this specification means "used as an example, instance or illustration" and does not mean "preferred" or "having advantages" over other embodiments. For the purpose of providing an understanding of the described technology, the specific embodiments include specific details. However, these technologies can be implemented without these specific details. In some instances, in order to avoid obscuring the concepts of the described embodiments, well-known structures and devices are shown in block diagram form.

[0080] The foregoing description of the present disclosure is provided to enable any person skilled in the art to implement or use the present disclosure. Various modifications to the present disclosure will be readily apparent to those skilled in the art, and the general principles herein may be applied to other variations without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is intended to be consistent with the widest range of principles and novel features disclosed herein.

Claims

1. A map data collection method, characterized in that: include: Obtaining a map collection request, wherein the map collection request includes collection area information, collection vehicle information, and collection personnel information; Based on the collection area information, a map collection route is obtained and sent to the collection vehicle; In response to a start collection request, checking whether the configuration of the collection vehicle is correct; If yes, a start instruction is fed back to the collection vehicle, so that the collection personnel drive the collection vehicle to start performing the collection task, where the collection task is to collect high-precision map data along the map collection route; In response to the end collection request, checking whether the high-precision map data collected by the collection vehicle is abnormal; If not, the high-precision map data collected by the collection vehicle is transmitted back to the cloud.

2. The map data collection method according to claim 1, characterized in that: The step of acquiring a map collection route based on the collection area information includes: Based on the acquisition area information, obtaining an acquisition area code; Based on the acquisition area code, the map acquisition route is obtained by indexing in a database, and the mapping relationship between the acquisition area code and the map acquisition route is stored in the database.

3. The map data collection method according to claim 1, characterized in that: The step of checking whether the configuration of the collection vehicle is correct in response to the collection start request includes: Obtain the data channel status with the acquisition vehicle and determine whether it is normal; If so, determining whether the RTK configuration information of the acquisition vehicle is normal; If so, determining whether the positioning status of the acquisition vehicle is normal; If so, determining whether the remaining disk space of the acquisition vehicle is greater than a first threshold; If so, determining whether the image acquisition program version of the acquisition vehicle is the specified version; If so, the configuration of the collection vehicle is correct; The first threshold is the maximum data capacity of the high-precision map data of the map collection route.

4. The map data collection method according to claim 1, wherein: Also includes: When the collection personnel drive the collection vehicle to perform the collection task, monitoring the status of the collection vehicle in real time; When the state of the collection vehicle is abnormal, an alarm message is sent.

5. The map data collection method according to claim 4, characterized in that: The steps of real-time monitoring of the status of the collected vehicle are specifically as follows: The vehicle trajectory, coordinates, time, remaining disk space and collected environmental images of the collection vehicle are obtained in real time.

6. The map data collection method according to claim 5, characterized in that: When the state of the collection vehicle is abnormal, the step of sending an alarm message to the collection vehicle is specifically as follows: When the remaining space on the disk of the collection vehicle is lower than a second threshold, sending an alarm message; When the data channel status with the collection vehicle is abnormal, an alarm message is sent; The second threshold is a preset value or a maximum data capacity of the remaining high-precision map data of the map collection route.

7. The map data collection method according to claim 1, characterized in that: The step of checking whether there is any abnormality in the high-precision map data collected by the collection vehicle is specifically as follows: Check whether the HD map data has IMU delay and point cloud data loss; If not, there is no abnormality in the high-precision map data.

8. A map data collection device, characterized in that: include: A request acquisition module is used to obtain a map acquisition request, wherein the map acquisition request includes acquisition area information, acquisition vehicle information, and acquisition personnel information; A route sending module is used to obtain a map collection route based on the collection area information and send it to the collection vehicle; A self-checking module, configured to check whether the configuration of the collection vehicle is correct in response to a collection start request; A collection start module is used to feed back a start instruction to the collection vehicle when the configuration of the collection vehicle is correct, so that the collection personnel can drive the collection vehicle to start performing the collection task, wherein the collection task is to collect high-precision map data along the map collection route; A data checking module, configured to check whether the high-precision map data collected by the collection vehicle has any anomalies in response to a request to end collection; The data return module is used to return the high-precision map data collected by the collection vehicle to the cloud when there is no abnormality in the high-precision map data collected by the collection vehicle.

9. An electronic device comprising: at least one processor; as well as A memory storing instructions, wherein when the instructions are executed by the at least one processor, the at least one processor executes the map data collection method according to any one of claims 1 to 7.

10. A machine-readable storage medium storing executable instructions, wherein when the instructions are executed, the machine executes the map data collection method according to any one of claims 1 to 7.

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