Map data quality inspection method, device and equipment and storage medium

Abstract

The application relates to a map data quality inspection method and device, equipment and a storage medium, and relates to the technical field of map processing. The method can perform quality inspection on map data according to respective quality inspection tasks of different mapping modules by using map data based on the different mapping modules, obtain respective quality inspection results of each mapping module by performing respective quality inspection cases of each mapping module on the map data, and thus, the accuracy of the quality inspection results is improved, the quality inspection tasks of different mapping modules can be simultaneously performed, the quality inspection efficiency of the map data is improved, and the quality inspected map data can be used for real-time updating of a map, thereby improving the timeliness of the map.

Description

Technical Field

[0001] This application relates to the field of data inspection, and more particularly to the field of map processing technology, specifically to a map data quality inspection method, apparatus, equipment, and storage medium. Background Technology

[0002] As autonomous driving technology continues to mature, the quality of maps used for autonomous driving is becoming increasingly important.

[0003] The map-making process generally includes steps such as map data collection and processing, map production, and map data compilation. During the map production process, it is necessary to conduct quality checks on the map data at each step to ensure the quality of the map.

[0004] In related technologies, after the map data is compiled, the resulting map data is subjected to quality checks. However, this method has problems such as long inspection time, low accuracy, and weak effectiveness when performing quality checks on map data. Summary of the Invention

[0005] This application provides a map data quality inspection method, apparatus, device, and storage medium to at least solve the technical problems of long inspection time, low accuracy, and weak effectiveness in related technologies. The technical solution of this application is as follows:

[0006] According to the first aspect of this application, a map data quality inspection method is provided, comprising: acquiring map data and quality inspection tasks for each of multiple mapping modules; obtaining the map data corresponding to the multiple mapping modules by processing the original map data according to each step in the mapping process, with each step corresponding to a mapping module; each mapping module corresponding to a quality inspection case table; the quality inspection case table including multiple quality inspection cases; determining the target quality inspection case corresponding to each mapping module from the quality inspection case table corresponding to each mapping module according to the quality inspection tasks of the multiple mapping modules; and performing quality inspection on the map data using the target quality inspection case corresponding to each mapping module to obtain the quality inspection result corresponding to each mapping module.

[0007] Based on the aforementioned technical means, this application can perform quality inspection on map data based on map data from different mapping modules, according to the quality inspection tasks corresponding to each mapping module, and execute the corresponding quality inspection cases for each mapping module to obtain the quality inspection results for each mapping module. Thus, by performing quality inspection on map data according to different quality inspection case tables corresponding to different mapping modules, the accuracy of the quality inspection results is improved. The quality inspection tasks of different mapping modules can be executed simultaneously, improving the efficiency of map data quality inspection. The quality-inspected map data can be used for real-time map updates, thereby improving the timeliness of the map.

[0008] In one possible implementation, the method further includes: using map data to generate a map; the map includes multiple map tiles; each map tile includes one or more geographic features; the quality inspection task further includes identifying the map tiles to be inspected among the multiple map tiles; targeting any one of the multiple mapping modules as a first mapping module; performing quality inspection on the map data using the target quality inspection cases corresponding to each mapping module, and obtaining the quality inspection results corresponding to each mapping module, including: parsing all or part of the map data of the first mapping module to obtain a feature attribute set; the feature attribute set includes feature attributes of at least one geographic feature; the feature attributes include at least one of the following: color attribute The system identifies the geographic features, geometric attributes, location attributes, and geographic element identifiers. Based on the identifiers of the map tiles to be inspected in the quality inspection task of the first mapping module, it determines the map tiles to be inspected corresponding to the first mapping module. Based on the target quality inspection case corresponding to the first mapping module, it determines the geographic features to be inspected and the target element attributes of the target quality inspection case from the set of element attributes. The target quality inspection case is used to indicate the geographic features to be inspected and the target element attributes of the geographic features to be inspected, and the target element attributes are at least one of the element attributes. Based on the target element attributes, the target quality inspection case is executed on the geographic features to be inspected in the map tiles to be inspected to obtain the quality inspection results of the first mapping module.

[0009] Based on the aforementioned technical means, this application can determine the corresponding map tiles to be inspected according to the quality inspection task, and perform quality inspection on the geographic elements in the map tiles to be inspected. Thus, it is possible to perform quality inspection only on the geographic elements in one or more map tiles in the mapping module as needed, thereby improving the efficiency and flexibility of map data quality inspection.

[0010] In one possible implementation, the method further includes: the geographic features to be inspected include: lane centerline and road boundary; the target feature attributes include: the positional attribute of the lane centerline and the positional attribute of the road boundary; based on the target feature attributes, the target quality inspection case is executed on the geographic features to be inspected in the map tiles to be inspected to obtain the quality inspection result of the first mapping module, including: determining whether the position of the road boundary is within a first road surface area based on the positional attribute of the lane centerline, a first preset length, and the positional attribute of the road boundary; the first road surface area is determined by the lane centerline and the first preset length in a first direction; if the position of the road boundary is within the first road surface area, the quality inspection result of the first mapping module is determined to be an abnormal distance between the lane centerline and the road boundary; if the position of the road boundary is outside the first road surface area, the quality inspection result of the first mapping module is determined to be a normal distance between the lane centerline and the road boundary.

[0011] Based on the aforementioned technical means, this application can determine whether the location of the road boundary is within the first road surface area based on the positional attributes of the lane centerline, the first preset length, and the positional attributes of the road boundary. The first road surface area is determined by the lane centerline and the first preset length in the first direction. If the road boundary is located within the first road surface area, it is determined that the distance between the lane centerline and the road boundary is abnormal. Thus, the distance between the lane centerline and the road boundary can be inspected based on the positional attributes of the lane centerline and the road boundary to identify abnormal situations where the lane centerline and the road boundary are too close. This avoids the driving trajectory planned by autonomous driving or other intelligent assisted driving functions from being too close to the road boundary, which could lead to a collision between the vehicle and the road boundary, thereby improving driving safety.

[0012] In one possible implementation, the method further includes: the location attribute includes elevation; the method further includes: determining a first road boundary based on the elevation of the lane centerline and the elevation of the road boundary; the first road boundary is a lane boundary whose elevation difference with the lane centerline is less than a preset elevation difference threshold; determining whether the location of the road boundary is within the first road surface area based on the location attribute of the lane centerline, a first preset length and the location attribute of the road boundary, including: determining whether the location of the first road boundary is within the first road surface area based on the location attribute of the lane centerline, the first preset length and the location attribute of the first road boundary.

[0013] Based on the aforementioned technical means, this application can determine a first road boundary whose elevation difference with the lane centerline is less than a preset elevation difference threshold, based on the elevation of the lane centerline and the road boundary, and specifically determine whether the first road boundary is within the first road surface area. Since the elevation difference between the first road boundary and the lane centerline is small, it indicates that the first road boundary and the lane centerline are on the same road plane. The first road boundary is not an interchange road located above or below the road where the lane centerline is located. Screening the first road boundary can avoid confusing road boundaries in interchange roads located above or below the road where the lane centerline is located with road boundaries on the road where the lane centerline is located, thereby improving the accuracy of determining the distance between the lane centerline and the road boundary.

[0014] In one possible implementation, the method further includes: the geographic features to be inspected include: lane centerline, lane boundary, and road boundary; the target feature attributes include: the location attributes of the lane centerline, the location attributes of the lane boundary, and the location attributes of the road boundary; based on the target feature attributes, target quality inspection cases are executed on the geographic features to be inspected in the map tiles to be inspected to obtain the quality inspection results of the first mapping module, including: determining the lane centerline and road boundary within the second road surface area based on the location attributes of the lane boundary, the second preset length, the location attributes of the lane centerline, and the location attributes of the road boundary; wherein, the second road surface area is determined by the lane boundary and the second preset length in the first direction; and segmenting the lane boundary to obtain at least one The system identifies lane boundary segments and determines the positional attributes of at least one sub-lane boundary, the positional attributes of the lane centerline corresponding to at least one lane boundary segment in the first direction, and the positional attributes of the road boundary corresponding to at least one lane boundary segment in the first direction. Based on the positional attributes of at least one lane boundary segment, the positional attributes of the lane centerline corresponding to at least one lane boundary segment, and the positional attributes of the road boundary, the system determines whether the nearest geographic features on both sides of at least one lane boundary segment are lane centerlines. If any of the nearest geographic features on both sides of a lane boundary segment is a lane centerline, the quality inspection result of the first mapping module is determined to be that a lane centerline exists within a portion of the lane corresponding to the lane boundary segment.

[0015] Based on the aforementioned technical means, this application can determine whether a lane centerline exists within a lane by considering the positional attributes of the lane centerline, the lane boundary, and the road boundary. This ensures that a lane centerline exists in lanes where it is required, thereby enabling drivers to better judge their driving direction and reducing the incidence of traffic accidents when vehicles are traveling within the lane.

[0016] In one possible implementation, the method further includes: when the nearest geographic features on both sides of the lane boundary segment are not lane centerlines, if the types of the nearest geographic features on both sides of the lane boundary segment are not among the following, then the quality inspection result of the first mapping module is determined to be that there is no lane centerline in the part of the lane corresponding to the lane boundary segment: the nearest geographic features on both sides of the lane boundary segment are both guide zones, and there is a historical driving trajectory between the two guide zones; the nearest geographic features on both sides of the lane boundary segment are both guide zones, the width of the lane between the two guide zones is greater than a width threshold, and the length of the lane between the two guide zones is greater than a length threshold; the nearest geographic feature on one side of the lane boundary segment is an emergency lane; the nearest geographic feature on one side of the lane boundary segment is a green belt; the nearest geographic feature on one side of the lane boundary segment is a reference lane boundary segment, and the distance between the reference lane boundary segment and the lane boundary segment is greater than a distance threshold.

[0017] Based on the above technical means, this application can improve the accuracy of the quality inspection results obtained when inspecting whether a lane center line exists by judging lanes that do not require the creation of a lane center line.

[0018] According to a second aspect of this application, a map data quality inspection device is provided, comprising: an acquisition module, configured to acquire map data and quality inspection tasks for each of a plurality of mapping modules; the map data corresponding to the plurality of mapping modules are obtained by processing the original map data according to each step in the mapping process, each step corresponding to a mapping module; each mapping module corresponds to a quality inspection case table; the quality inspection case table includes a plurality of quality inspection cases; and a processing module, configured to determine the target quality inspection case corresponding to each mapping module from the quality inspection case table corresponding to each mapping module according to the quality inspection tasks of the plurality of mapping modules; and to perform quality inspection on the map data using the target quality inspection case corresponding to each mapping module to obtain the quality inspection result corresponding to each mapping module.

[0019] In one possible implementation, map data is used to generate a map; the map includes multiple map tiles; each map tile includes one or more geographic features; the quality inspection task also includes the identifier of the map tile to be inspected among the multiple map tiles; for any one of the multiple mapping modules, a first mapping module; the aforementioned processing module is specifically used to parse all or part of the map data of the first mapping module to obtain a feature attribute set; the feature attribute set includes feature attributes of at least one geographic feature; the feature attributes include at least one of the following: color attribute, geometric attribute, location attribute, and geographic feature identifier; based on the identifier of the map tile to be inspected in the quality inspection task of the first mapping module, the map tile to be inspected corresponding to the first mapping module is determined; based on the target quality inspection case corresponding to the first mapping module, the geographic feature to be inspected and the target feature attribute of the target quality inspection case are determined from the feature attribute set; the target quality inspection case is used to indicate the geographic feature to be inspected and the target feature attribute of the geographic feature to be inspected, and the target feature attribute is at least one of the feature attributes; based on the target feature attribute, the target quality inspection case is executed on the geographic feature to be inspected in the map tile to be inspected to obtain the quality inspection result of the first mapping module.

[0020] In one possible implementation, the geographic features to be inspected include: lane centerline and road boundary; the target feature attributes include: the positional attributes of the lane centerline and the positional attributes of the road boundary; the aforementioned processing module is specifically used to determine whether the position of the road boundary is within a first road surface area based on the positional attributes of the lane centerline, a first preset length, and the positional attributes of the road boundary; the first road surface area is determined by the lane centerline and the first preset length in a first direction; if the position of the road boundary is within the first road surface area, the quality inspection result of the first mapping module is determined to be an abnormal distance between the lane centerline and the road boundary; if the position of the road boundary is outside the first road surface area, the quality inspection result of the first mapping module is determined to be a normal distance between the lane centerline and the road boundary.

[0021] In one possible implementation, the location attribute includes elevation; the processing module is further configured to determine a first road boundary based on the elevation of the lane centerline and the elevation of the road boundary; the first road boundary is a lane boundary whose elevation difference with the lane centerline is less than a preset elevation difference threshold; determining whether the location of the road boundary is within the first road surface area based on the location attribute of the lane centerline, the first preset length, and the location attribute of the road boundary includes: determining whether the location of the first road boundary is within the first road surface area based on the location attribute of the lane centerline, the first preset length, and the location attribute of the first road boundary.

[0022] In one possible implementation, the geographic features to be inspected include: lane centerline, lane boundary, and road boundary; the target feature attributes include: positional attributes of the lane centerline, positional attributes of the lane boundary, and positional attributes of the road boundary; the aforementioned processing module is specifically used to determine the lane centerline and road boundary within a second road surface area based on the positional attributes of the lane boundary, a second preset length, the positional attributes of the lane centerline, and the positional attributes of the road boundary; wherein, the second road surface area is determined by the lane boundary and the second preset length in the first direction; the lane boundary is segmented to obtain at least one lane boundary segment, and the positional attributes of at least one sub-lane boundary, the positional attributes of the lane centerline corresponding to at least one lane boundary segment in the first direction, and the positional attributes of the road boundary corresponding to at least one lane boundary segment in the first direction are determined; based on the positional attributes of at least one lane boundary segment and the positional attributes of the lane centerline and road boundary corresponding to at least one lane boundary segment, it is determined whether the nearest geographic features on both sides of at least one lane boundary segment are lane centerlines; if any of the nearest geographic features on both sides of the lane boundary segment is a lane centerline, the quality inspection result of the first mapping module is determined to be that a lane centerline exists within a portion of the lane corresponding to the lane boundary segment.

[0023] In one possible implementation, the above processing module is further configured to determine, when the nearest geographic features on both sides of a lane boundary segment are not lane centerlines, that the quality inspection result of the first mapping module is that there is no lane centerline in the lane corresponding to the lane boundary segment if the types of the nearest geographic features on both sides of the lane boundary segment are not among the following: the nearest geographic features on both sides of the lane boundary segment are both guide zones, and there is a historical driving trajectory between the two guide zones; the nearest geographic features on both sides of the lane boundary segment are both guide zones, the width of the lane between the two guide zones is greater than a width threshold, and the length of the lane between the two guide zones is greater than a length threshold; the nearest geographic feature on one side of the lane boundary segment is an emergency lane; the nearest geographic feature on one side of the lane boundary segment is a green belt; the nearest geographic feature on one side of the lane boundary segment is a reference lane boundary segment, and the distance between the reference lane boundary segment and the lane boundary segment is greater than a distance threshold.

[0024] According to a third aspect provided in this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the first aspect described above and any possible implementation thereof.

[0025] According to a fourth aspect provided in this application, a computer-readable storage medium is provided that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0026] According to the fifth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0027] Therefore, the above-mentioned technical features of this application have the following beneficial effects:

[0028] (1) By performing quality inspection on map data according to different quality inspection case tables corresponding to different mapping modules, the accuracy of the quality inspection results is improved. The quality inspection tasks of different mapping modules can be executed simultaneously, which improves the quality inspection efficiency of map data. The quality-inspected map data can be used to update the map in real time, thereby improving the timeliness of the map.

[0029] (2) The corresponding map tiles to be inspected can be determined according to the quality inspection task, and the geographic elements in the map tiles to be inspected can be inspected. Thus, the geographic elements in one or more map tiles in the mapping module can be inspected as needed, which improves the efficiency and flexibility of map data quality inspection.

[0030] (3) The autonomous driving or other intelligent assisted driving functions of a vehicle need to generate a driving trajectory based on the lane centerline. The map data quality inspection method provided in this application can determine whether the position of the road boundary is within the first road surface area based on the position attributes of the lane centerline, the first preset length, and the position attributes of the road boundary. The first road surface area is determined by the lane centerline and the first preset length in the first direction. If the road boundary is in the first road surface area, it is determined that the distance between the lane centerline and the road boundary is abnormal. Thus, the distance between the lane centerline and the road boundary can be inspected based on the position attributes of the lane centerline and the road boundary to identify abnormal situations where the lane centerline and the road boundary are too close. This avoids the driving trajectory planned by autonomous driving or other intelligent assisted driving functions being too close to the road boundary, which could lead to a collision between the vehicle and the road boundary, thereby improving driving safety.

[0031] (4) In real-world roads, there may be interchanges with the same latitude and longitude but different elevations. The map data method provided in this application can also determine the first road boundary whose elevation difference with the lane centerline is less than a preset elevation difference threshold based on the elevation of the lane centerline and the road boundary, and specifically determine whether the first road boundary is within the first road surface area. Since the elevation difference between the first road boundary and the lane centerline is small, it means that the first road boundary and the lane centerline are on the same road plane. The first road boundary is not an interchange located above or below the road where the lane centerline is located. Filtering the first road boundary can avoid confusing the road boundaries of interchanges located above or below the road where the lane centerline is located with the road boundaries of the road where the lane centerline is located, thereby improving the accuracy of the distance between the lane centerline and the road boundary.

[0032] (5) The presence of a lane centerline can be determined by the position attributes of the lane centerline, the lane boundary, and the road boundary, ensuring that a lane centerline exists in lanes where it is required, thereby enabling drivers to better judge the driving direction when vehicles are driving in the lane and reducing the incidence of traffic accidents.

[0033] (6) By judging lanes that do not require the creation of lane center lines, the accuracy of the quality inspection results obtained when inspecting whether lane center lines exist is improved.

[0034] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0037] Figure 1 This is a flowchart illustrating a map data quality inspection method according to an exemplary embodiment;

[0038] Figure 2 A diagram illustrating the collection of error characteristics;

[0039] Figure 3 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment;

[0040] Figure 4 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment;

[0041] Figure 5 This is a schematic diagram of the lane centerline and road boundary;

[0042] Figure 6 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment;

[0043] Figure 7 This is a schematic diagram showing a situation where the lane centerline is missing.

[0044] Figure 8 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment;

[0045] Figure 9 This is a block diagram illustrating a map data quality inspection device according to an exemplary embodiment;

[0046] Figure 10 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0048] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0049] Definitions:

[0050] 1. Lightweight Database (SQLite): A lightweight database management system.

[0051] 2. Geojson (Geometry Augmented Json): is a format for encoding various geographic data structures.

[0052] As autonomous driving technology matures, the quality of maps supporting autonomous driving becomes increasingly critical. Map creation typically involves steps such as map data acquisition and processing, map production, and map data compilation. Quality control of the map data at each step is essential to ensure map quality.

[0053] In related technologies, after the map data is compiled, the resulting map data is subjected to quality checks. However, this method has problems such as long inspection time, low accuracy, and weak effectiveness when performing quality checks on map data.

[0054] To address the aforementioned problems, this application proposes a map data quality inspection method, apparatus, device, and storage medium. Based on map data from different mapping modules, and according to the quality inspection tasks corresponding to each mapping module, quality inspection cases corresponding to each mapping module are executed to inspect the map data, resulting in quality inspection results for each mapping module. Thus, by inspecting map data according to different quality inspection case tables corresponding to different mapping modules, the accuracy of the quality inspection results is improved. Quality inspection tasks from different mapping modules can be executed simultaneously, improving the efficiency of map data quality inspection. The inspected map data can be used for real-time map updates, thereby improving the timeliness of the map.

[0055] The following is a detailed description of a map data quality inspection method, apparatus, equipment, and storage medium proposed in this application, with reference to the accompanying drawings.

[0056] The map data quality inspection method provided in this application is executed by a map data quality inspection device, which can be configured in an electronic device to enable the electronic device to perform map data quality inspection functions. Optionally, the electronic device can be any device with computing capabilities, and the device or its functional modules can perform map data quality inspection functions. The device with computing capabilities can be, for example, a personal computer, a mobile terminal, or a server. The mobile terminal can be, for example, an in-vehicle device, a mobile phone, a tablet computer, a wearable device, or other hardware device with various operating systems. This application does not specifically limit this aspect.

[0057] For ease of understanding, the map data quality inspection method provided in this application will be described in detail below with reference to the accompanying drawings.

[0058] Figure 1 This is a flowchart illustrating a map data quality inspection method according to an exemplary embodiment, such as... Figure 1 As shown, the map data quality inspection method includes the following steps:

[0059] S101, acquire map data and quality inspection tasks from multiple mapping modules.

[0060] The map data corresponding to multiple mapping modules is obtained by processing the original map data according to each mapping step in the mapping process. Each step corresponds to a mapping module; each mapping module corresponds to a quality inspection case table; the quality inspection case table includes multiple quality inspection cases. The original map data is collected through data acquisition vehicles, radar, cameras, and other equipment. The collected data is processed at each step and saved in the corresponding mapping module in geojson format.

[0061] In this embodiment of the application, the map production process includes steps such as map data collection and processing, cartography, and map compilation. The corresponding map production modules include map learning modules, cartography modules, compilation modules, etc. Each map production module corresponds to different map data, and each map production module corresponds to a quality inspection case table. The quality inspection cases in the quality inspection case table can be added, deleted, or modified according to the needs of different quality inspection scenarios.

[0062] For map data from different mapping modules, different quality inspection cases can be designed based on actual quality inspection requirements and written into the corresponding quality inspection case table.

[0063] S102, based on the quality inspection tasks of each of the multiple mapping modules, determine the target quality inspection cases corresponding to each mapping module from the quality inspection case table corresponding to each mapping module.

[0064] As one possible implementation, the quality inspection task includes the identification of the target quality inspection cases. The map data quality inspection device uses the identification of the target quality inspection cases as an index to query the quality inspection case table corresponding to each mapping module to determine the target quality inspection cases. Furthermore, the target quality inspection cases can be sorted according to the order indicated in the quality inspection task to obtain the execution order of the target quality inspection cases.

[0065] The target quality inspection cases corresponding to each mapping module can be the same or different.

[0066] S103, use the target quality inspection cases corresponding to each mapping module to perform quality inspection on the map data, and obtain the quality inspection results corresponding to each mapping module.

[0067] As one possible implementation, the map data quality inspection device determines one or more target quality inspection cases for each mapping module. The target quality inspection cases are executed sequentially to inspect the map data and obtain the quality inspection results. When inspecting the map data of multiple mapping modules, the quality inspection process of each mapping module is independent and performed simultaneously, which improves the quality inspection efficiency of map data.

[0068] In this embodiment of the application, after obtaining the quality inspection results, the map data quality inspection system will perform statistical processing on the quality inspection results and display them. The quality inspection results are stored in the database of the map data quality inspection system in the form of SQLite. If the quality inspection results are incorrect, the error form and error information of the quality inspection results are recorded. The error form includes points, lines, and polygons.

[0069] For example, Figure 2 A schematic diagram for collecting error features, such as Figure 2 As shown, Figure 2 The black dotted areas in the image indicate where the quality inspection result is incorrect.

[0070] Table 1 shows the error information statistics table. As shown, the table includes six columns: the first column represents the sequence number of the quality inspection result; the second column represents the identifier of the quality inspection case; the third column represents the name of the quality inspection case; the fourth column represents the priority; the fifth column represents the quantity; and the sixth column represents the score. Staff can analyze and correct the quality inspection results based on the error information statistics table, improving the efficiency of map data correction.

[0071] Table 1

[0072]

[0073] As shown in the table above, the table displays the quality inspection results corresponding to a quality inspection case. The serial number of the quality inspection result is serial number 1, the identifier of the quality inspection case is identifier 1, the name of the quality inspection case is name 1, the priority is first level, the quantity is the first quantity, and the score is the first score.

[0074] The map data quality inspection method of this application embodiment performs quality inspection on map data based on map data from different mapping modules. It executes quality inspection cases corresponding to each mapping module according to their respective quality inspection tasks, obtaining quality inspection results for each mapping module. This improves the accuracy of the quality inspection results by using different quality inspection case tables corresponding to different mapping modules. Furthermore, the quality inspection tasks of different mapping modules can be executed simultaneously, increasing the efficiency of map data quality inspection. The inspected map data can be used for real-time map updates, thereby improving the timeliness of the map.

[0075] In some embodiments, to further illustrate the quality control process of map data, Figure 3 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment, such as... Figure 3 As shown, for any one of the multiple mapping modules, S103 in the above embodiment includes the following steps:

[0076] S301, parse all or part of the map data of the first mapping module to obtain the feature attribute set.

[0077] The feature attribute set includes at least one feature attribute of a geographic feature; the feature attribute includes at least one of the following: color attribute, geometric attribute, location attribute, and geographic feature identifier. Geographic features are various actual geographic features existing on the map, including: lane center lines, curbs, road boundaries, lane boundaries, traffic signs, etc.

[0078] As one possible implementation, the map data quality inspection device acquires map data in GeoJSON format. The map data quality inspection device needs to parse the GeoJSON format map data to obtain the feature attributes of the corresponding geographic features.

[0079] S302, Based on the identifier of the map tile to be inspected in the quality inspection task of the first mapping module, determine the map tile to be inspected corresponding to the first mapping module.

[0080] The map data is used to generate the map; the map includes multiple map tiles; each map tile includes one or more geographic features; the quality inspection task also includes the identification of the map tiles to be inspected among the multiple map tiles.

[0081] As one possible implementation, the map data quality inspection device manages map data in the form of map tiles. Each map tile has a corresponding identifier. When inspecting map data, the map data quality inspection device queries the database based on the identifier of the map tile to be inspected in the quality inspection task to determine the map tile to be inspected.

[0082] S303, based on the target quality inspection case corresponding to the first mapping module, determine the geographic features to be inspected and the target feature attributes of the target quality inspection case from the feature attribute set.

[0083] The target quality inspection use case is used to indicate the geographic feature to be inspected and the target feature attribute of the geographic feature to be inspected. The target feature attribute is at least one of the feature attributes.

[0084] As one possible implementation, the map data quality inspection device determines the elements to be inspected corresponding to the target quality inspection cases from the set of element attributes based on the target quality inspection cases, and then determines the target element attributes for each element to be inspected. For example, if the elements to be inspected are the lane centerline and the road boundary, the target element attributes are the geometric and positional attributes of the lane centerline and the geometric and positional attributes of the road boundary.

[0085] S304. Based on the target element attributes, execute the target quality inspection cases for the geographic elements to be inspected in the map tiles to be inspected, and obtain the quality inspection results of the first mapping module.

[0086] As one possible implementation, the map data quality inspection device can call the target quality inspection case and, based on the target element attributes, determine whether the geographic element to be inspected meets the expected results. If it meets the judgment criteria in the target quality inspection case, the quality inspection result is that the geographic element to be inspected is qualified; if it does not meet the judgment criteria in the target quality inspection case, the quality inspection result is that the geographic element to be inspected is unqualified.

[0087] In some embodiments, in order to detect whether the distance between the lane centerline and the road boundary is too close to ensure vehicle driving safety, Figure 4 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment, such as... Figure 4 As shown in the embodiment of this application, the process of executing target quality inspection cases on geographic features to be inspected in map tiles to be inspected, based on target feature attributes, to obtain the quality inspection results of the first mapping module includes the following steps:

[0088] S401, based on the position attributes of the lane centerline, the first preset length, and the position attributes of the road boundary, determine whether the position of the road boundary is within the first road surface area.

[0089] The first road surface area is defined by the lane centerline and a first preset length in a first direction. For example, taking the plane containing the lane centerline as a reference, the first direction is perpendicular to the lane centerline, and the first road surface area is within the plane containing the lane centerline. The first road surface area is a rectangle with a first side length twice the first preset length and another side length equal to the length of the lane centerline. The first side length is bisected by the lane centerline, and the first preset length can be 1 meter.

[0090] As one possible implementation, the map data quality inspection device determines the position of the lane centerline and a first preset length based on the positional attributes of the lane centerline, and determines the range of the first area; it determines the position of the road boundary based on the positional attributes of the road boundary, compares the range of the first area with the position of the road boundary, and determines whether the position of the road boundary is within the first road surface area.

[0091] Furthermore, since the map data is three-dimensional data and the location attribute includes elevation, it is necessary to filter the elevation of the road boundary before determining whether the location of the road boundary is within the first road surface area: the first road boundary is determined based on the elevation of the lane centerline and the elevation of the road boundary; the first road boundary is the lane boundary whose elevation difference with the lane centerline is less than a preset elevation difference threshold, wherein the preset elevation difference threshold can be 3 meters.

[0092] As another possible implementation, the map data quality inspection device can determine whether the position of the first road boundary is within the first road surface area based on the position attributes of the lane centerline, the first preset length, and the position attributes of the first road boundary.

[0093] Specifically, the map data quality inspection device can determine the position of the lane centerline and the first preset length based on the positional attributes of the lane centerline, and determine the range of the first area; it can determine the position of the first road boundary based on the positional attributes of the first road boundary, and compare the range of the first area and the position of the first road boundary to determine whether the position of the first road boundary is within the first road surface area.

[0094] S402, when the location of the road boundary is within the first road surface area, the quality inspection result of the first mapping module is determined to be an abnormal distance between the lane centerline and the road boundary.

[0095] S403, when the road boundary is located outside the first road surface area, the quality inspection result of the first mapping module is determined to be that the distance between the lane centerline and the road boundary is normal.

[0096] For example, Figure 5 A schematic diagram of the lane centerline and road boundary, such as... Figure 5As shown, the bold black line segment represents the closest distance between the lane centerline and the road boundary. If the distance is less than the first preset length, it indicates that the lane centerline and the road boundary are too close, and the quality inspection result is that the distance between the lane centerline and the road boundary is abnormal.

[0097] In some embodiments, in order to detect the presence of a lane centerline in the lane... Figure 6 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment, such as... Figure 6 As shown in the embodiment of this application, the process of executing target quality inspection cases on geographic features to be inspected in map tiles to be inspected, based on target feature attributes, to obtain the quality inspection results of the first mapping module includes the following steps:

[0098] S601, based on the positional attributes of the lane boundary, the second preset length, the positional attributes of the lane centerline, and the positional attributes of the road boundary, determine the lane centerline and road boundary within the second road surface area.

[0099] The second road surface area is determined by the lane boundary and the second preset length in the first direction. For example, taking the plane where the lane centerline is located as a reference, the first direction is the direction perpendicular to the lane centerline, and the second road surface area is in the plane where the lane centerline is located. The second road surface area is a rectangle whose first side length is twice the second preset length, and the second side length is equal to the length of the lane centerline. The first side length is bisected by the lane centerline, and the second preset length can be 6 meters.

[0100] As one possible implementation, the map data quality inspection device obtains the positions of the lane boundaries, lane center lines, and road boundaries based on the positional attributes of the lane boundaries, lane center lines, and road boundaries. Then, it determines the second road surface area based on the position of the lane boundaries and a second preset length. By comparing the range of the second road surface area with the positions of the lane center lines and road boundaries, it obtains the lane center lines and road boundaries within the second road surface area.

[0101] S602, the lane boundary is segmented to obtain at least one lane boundary segment, and the position attributes of at least one sub-lane boundary, the position attributes of the lane centerline corresponding to at least one lane boundary segment in the first direction, and the position attributes of the road boundary corresponding to at least one lane boundary segment in the first direction are determined.

[0102] As one possible implementation, the map data quality inspection device segments the lane boundary based on geographic features to obtain at least one lane boundary segment. Geographic features may include: curbs, flower beds, traffic signal signs, intersections, etc. Based on the positional attributes of the lane boundary segments, a sub-region of the second area is determined. Then, the positional attributes of the lane centerline and road boundary within the sub-region of the second area are determined, which are the positional attributes of the lane centerline and road boundary corresponding to the first direction.

[0103] S603, based on the location attributes of at least one lane boundary segment and the location attributes of the lane centerline and the road boundary corresponding to at least one lane boundary segment, determine whether the nearest geographic features on both sides of at least one lane boundary segment are lane centerlines.

[0104] As one possible implementation, the map data quality inspection device determines the position of at least one lane boundary segment, the position of the corresponding lane centerline, and the position of the road boundary based on the position attributes of at least one lane boundary segment, the position attributes of the lane centerline corresponding to at least one lane boundary segment, and the position attributes of the road boundary. Based on the position of the lane boundary segment, it determines the positions of the geographic features on both sides of the lane boundary segment and compares the positions of the geographic features on both sides to determine whether the nearest geographic feature is the centerline.

[0105] S604, if any of the nearest geographic features on both sides of the lane boundary segment is the lane centerline, determine that the quality inspection result of the first mapping module is that a lane centerline exists in part of the lane corresponding to the lane boundary segment.

[0106] As one possible implementation, when the nearest geographic feature on one side of a lane boundary segment is a centerline, the quality inspection result is that a lane centerline exists in the lane on that side. When the nearest geographic features on both sides of a lane boundary segment are both centerlines, the quality inspection result is that a lane centerline exists in the lanes on both sides of the lane boundary segment. For example, Figure 7 This is a diagram illustrating a situation where the lane centerline is missing, as shown below. Figure 7 As shown, the lane within the dashed box is missing its lane centerline.

[0107] As another possible implementation, if the nearest geographic features on both sides of the lane boundary segment are not lane centerlines, and if the types of the nearest geographic features on both sides of the lane boundary segment are not among the following, then the quality inspection result of the first mapping module is determined to be that there are no lane centerlines in the part of the lane corresponding to the lane boundary segment.

[0108] In cases where the nearest geographic features on both sides of a lane boundary segment fall into the following categories, a lane centerline is not required, meaning there is no lane centerline within the lane. Lane types that do not require a lane centerline include:

[0109] (1) The nearest geographic features on both sides of the lane boundary segment are both guide zones, and there is a historical driving trajectory between the two guide zones; the nearest geographic features on both sides of the lane boundary segment are both guide zones, the width of the lane between the two guide zones is greater than the width threshold, and the length of the lane between the two guide zones is greater than the length threshold, wherein the length threshold is 1 meter and the width threshold is 2.2 meters.

[0110] (2) The nearest geographic feature on one side of the lane boundary segment is the emergency lane.

[0111] (3) The nearest geographic feature on one side of the lane boundary segment is a green belt.

[0112] (4) The nearest geographic feature on one side of a lane boundary segment is the reference lane boundary segment, and the distance between the reference lane boundary segment and the lane boundary segment is greater than a distance threshold. The distance threshold is 2 meters.

[0113] Based on the understanding of the above embodiments, Figure 8 This is a flowchart illustrating yet another map data quality inspection method according to an exemplary embodiment. For example... Figure 8 As shown, the map data quality inspection method provided in this application includes the following:

[0114] S801, determine the data to be inspected.

[0115] For example, S801 can be described with reference to S101 above, and will not be repeated here.

[0116] S802, Data Import.

[0117] For example, S802 can be described with reference to S301 above, and will not be repeated here.

[0118] S803, data quality inspection is performed after data preprocessing.

[0119] For example, S803 can be described with reference to S302, S303 and S304 above, and will not be repeated here.

[0120] S804, after checking the results of the quality inspection test cases, obtains a quality inspection report.

[0121] For example, S804 can be described with reference to S103 above, and will not be repeated here.

[0122] The above primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the map data quality inspection device or electronic device includes corresponding hardware structures and / or software modules for performing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0123] This application embodiment can, based on the above method, exemplarily divide a map data quality inspection device or electronic device into functional modules. For example, the map data quality inspection device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0124] Figure 9 This is a block diagram illustrating a map data quality inspection device according to an exemplary embodiment. (Refer to...) Figure 9 The map data quality inspection device includes an acquisition module 910 and a processing module 920.

[0125] The acquisition module 910 is used to acquire the map data and quality inspection tasks of each of the multiple mapping modules. The map data corresponding to the multiple mapping modules is obtained by processing the original map data at each step in the mapping process, and each step corresponds to a mapping module. Each mapping module corresponds to a quality inspection case table. The quality inspection case table includes multiple quality inspection cases.

[0126] The processing module 920 is used to determine the target quality inspection cases corresponding to each mapping module from the quality inspection case table corresponding to each mapping module according to the quality inspection tasks of each mapping module; and to perform quality inspection on the map data using the target quality inspection cases corresponding to each mapping module to obtain the quality inspection results corresponding to each mapping module.

[0127] In one possible implementation, map data is used to generate a map; the map includes multiple map tiles; each map tile includes one or more geographic features; the quality inspection task also includes the identifier of the map tile to be inspected among the multiple map tiles; for any one of the multiple mapping modules, a first mapping module; the aforementioned processing module 920 is specifically used to parse all or part of the map data of the first mapping module to obtain a feature attribute set; the feature attribute set includes feature attributes of at least one geographic feature; the feature attributes include at least one of the following: color attribute, geometric attribute, location attribute, and identifier of geographic feature; Based on the identifier of the map tile to be inspected in the quality inspection task of the first mapping module, the map tile to be inspected corresponding to the first mapping module is determined; based on the target quality inspection case corresponding to the first mapping module, the geographic feature to be inspected and the target feature attribute of the target quality inspection case are determined from the feature attribute set; the target quality inspection case is used to indicate the geographic feature to be inspected and the target feature attribute of the geographic feature to be inspected, and the target feature attribute is at least one of the feature attributes; based on the target feature attribute, the target quality inspection case is executed on the geographic feature to be inspected in the map tile to be inspected to obtain the quality inspection result of the first mapping module.

[0128] In one possible implementation, the geographic features to be inspected include: lane centerline and road boundary; the target feature attributes include: the positional attributes of the lane centerline and the positional attributes of the road boundary; the processing module 920 is specifically used to determine whether the position of the road boundary is within a first road surface area based on the positional attributes of the lane centerline, a first preset length, and the positional attributes of the road boundary; the first road surface area is determined by the lane centerline and the first preset length in a first direction; if the position of the road boundary is within the first road surface area, the quality inspection result of the first mapping module is determined to be an abnormal distance between the lane centerline and the road boundary; if the position of the road boundary is outside the first road surface area, the quality inspection result of the first mapping module is determined to be a normal distance between the lane centerline and the road boundary.

[0129] In one possible implementation, the location attribute includes elevation; the processing module 920 is further configured to determine a first road boundary based on the elevation of the lane centerline and the elevation of the road boundary; the first road boundary is a lane boundary whose elevation difference with the lane centerline is less than a preset elevation difference threshold; specifically, the processing module is configured to determine whether the location of the first road boundary is within the first road surface area based on the location attribute of the lane centerline, the first preset length, and the location attribute of the first road boundary.

[0130] In one possible implementation, the geographic features to be inspected include: lane centerline, lane boundary, and road boundary; the target feature attributes include: positional attributes of the lane centerline, positional attributes of the lane boundary, and positional attributes of the road boundary; the processing module 920 is specifically used to determine the lane centerline and road boundary within a second road surface area based on the positional attributes of the lane boundary, a second preset length, the positional attributes of the lane centerline, and the positional attributes of the road boundary; wherein, the second road surface area is determined by the lane boundary and the second preset length in the first direction; the lane boundary is segmented to obtain at least one lane boundary segment, and the positional attributes of at least one sub-lane boundary, the positional attributes of the lane centerline corresponding to at least one lane boundary segment in the first direction, and the positional attributes of the road boundary corresponding to at least one lane boundary segment in the first direction are determined; based on the positional attributes of at least one lane boundary segment and the positional attributes of the lane centerline and road boundary corresponding to at least one lane boundary segment, it is determined whether the nearest geographic features on both sides of at least one lane boundary segment are lane centerlines; if any of the nearest geographic features on both sides of the lane boundary segment is a lane centerline, the quality inspection result of the first mapping module is determined to be that a lane centerline exists in a portion of the lane corresponding to the lane boundary segment.

[0131] In one possible implementation, the processing module 920 is further configured to determine, when the nearest geographic features on both sides of a lane boundary segment are not lane centerlines, that the quality inspection result of the first mapping module is that there is no lane centerline in the lane corresponding to the lane boundary segment if the types of the nearest geographic features on both sides of the lane boundary segment are not among the following: the nearest geographic features on both sides of the lane boundary segment are both guide zones, and there is a historical driving trajectory between the two guide zones; the nearest geographic features on both sides of the lane boundary segment are both guide zones, the width of the lane between the two guide zones is greater than a width threshold, and the length of the lane between the two guide zones is greater than a length threshold; the nearest geographic feature on one side of the lane boundary segment is an emergency lane; the nearest geographic feature on one side of the lane boundary segment is a green belt; the nearest geographic feature on one side of the lane boundary segment is a reference lane boundary segment, and the distance between the reference lane boundary segment and the lane boundary segment is greater than a distance threshold.

[0132] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0133] Figure 10 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 10 As shown, the electronic device 1000 includes, but is not limited to, a processor 1001 and a memory 1002.

[0134] The aforementioned memory 1002 is used to store the executable instructions of the processor 1001. It is understood that the processor 1001 is configured to execute instructions to implement the map data quality inspection method in the above embodiments.

[0135] It should be noted that those skilled in the art will understand that Figure 10 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 10 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0136] The processor 1001 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 1002, and by calling data stored in the memory 1002, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 1001.

[0137] The memory 1002 can be used to store software programs and various data. The memory 1002 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0138] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1002 including instructions, which can be executed by a processor 1001 of an electronic device 1000 to implement the methods in the above embodiments.

[0139] In actual implementation, Figure 9 The functions of the acquisition module 910 and the processing module 920 can both be provided by Figure 10 The processor 1001 calls the computer program stored in the memory 1002 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0140] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0141] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 1001 of an electronic device to perform the methods described above.

[0142] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0145] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0146] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0147] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0148] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A map data quality inspection method, characterized in that, include: Acquire map data and quality inspection tasks from multiple mapping modules; The map data corresponding to the multiple mapping modules is obtained by processing the original map data at each step in the mapping process, and each step corresponds to a mapping module; each mapping module corresponds to a quality inspection case table; the quality inspection case table includes multiple quality inspection cases; Based on the quality inspection tasks of each of the multiple mapping modules, the target quality inspection cases corresponding to each mapping module are determined from the quality inspection case table corresponding to each mapping module. The map data is inspected using the target quality inspection cases corresponding to each mapping module, and the quality inspection results corresponding to each mapping module are obtained. The map data is used to generate a map; the map includes multiple map tiles; each map tile includes one or more geographic features; the quality inspection task also includes the identifier of the map tile to be inspected among the multiple map tiles; For any one of the plurality of mapping modules, the first mapping module; The process of using the target quality inspection cases corresponding to each mapping module to perform quality inspection on the map data, and obtaining the quality inspection results corresponding to each mapping module, includes: The map data of the first mapping module is parsed in whole or in part to obtain a set of feature attributes; the set of feature attributes includes at least one feature attribute of the geographic feature; the feature attribute includes at least one of the following: color attribute, geometric attribute, location attribute, and the identifier of the geographic feature; Based on the identifier of the map tile to be inspected in the quality inspection task of the first mapping module, determine the map tile to be inspected corresponding to the first mapping module; Based on the target quality inspection case corresponding to the first mapping module, the geographic feature to be inspected and the target feature attribute of the target quality inspection case are determined from the feature attribute set; the target quality inspection case is used to indicate the geographic feature to be inspected and the target feature attribute of the geographic feature to be inspected, and the target feature attribute is at least one of the feature attributes. Based on the target element attributes, the target quality inspection case is executed on the geographic elements to be inspected in the map tiles to be inspected, and the quality inspection result of the first mapping module is obtained. The geographic features to be inspected include: lane centerline and road boundary; the target feature attributes include: the location attributes of the lane centerline and the location attributes of the road boundary; The step of executing the target quality inspection case on the geographic features to be inspected in the map tiles to be inspected according to the target feature attributes, and obtaining the quality inspection result of the first mapping module, includes: Based on the positional attributes of the lane centerline, the first preset length, and the positional attributes of the road boundary, it is determined whether the position of the road boundary is within the first road surface area; the first road surface area is determined by the lane centerline and the first preset length in the first direction. If the location of the road boundary is within the first road surface area, the quality inspection result of the first mapping module is determined to be that the distance between the lane centerline and the road boundary is abnormal; If the location of the road boundary is outside the first road surface area, the quality inspection result of the first mapping module is determined to be that the distance between the lane centerline and the road boundary is normal.

2. The method according to claim 1, characterized in that, The location attribute includes elevation; the method further includes: The first road boundary is determined based on the elevation of the lane centerline and the elevation of the road boundary; the first road boundary is the lane boundary whose elevation difference with the lane centerline is less than a preset elevation difference threshold. The step of determining whether the location of the road boundary is within the first road surface area based on the position attributes of the lane centerline, the first preset length, and the position attributes of the road boundary includes: Based on the positional attributes of the lane centerline, the first preset length, and the positional attributes of the first road boundary, it is determined whether the position of the first road boundary is within the first road surface area.

3. The method according to claim 1, characterized in that, The geographic features to be inspected include: lane centerline, lane boundary, and road boundary; the target feature attributes include: the location attributes of the lane centerline, the location attributes of the lane boundary, and the location attributes of the road boundary. The step of executing the target quality inspection case on the geographic features to be inspected in the map tiles to be inspected according to the target feature attributes, and obtaining the quality inspection result of the first mapping module, includes: Based on the positional attributes of the lane boundary, the second preset length, the positional attributes of the lane centerline, and the positional attributes of the road boundary, the lane centerline and the road boundary within the second road surface area are determined; wherein, the second road surface area is determined by the lane boundary and the second preset length in the first direction; The lane boundary is segmented to obtain at least one lane boundary segment, and the position attributes of at least one sub-lane boundary, the position attributes of the lane centerline corresponding to the at least one lane boundary segment in the first direction, and the position attributes of the road boundary corresponding to the at least one lane boundary segment in the first direction are determined. Based on the location attributes of the at least one lane boundary segment, the location attributes of the lane centerline corresponding to the at least one lane boundary segment, and the location attributes of the road boundary, determine whether the nearest geographic features on both sides of the at least one lane boundary segment are lane centerlines. If any of the nearest geographic features on both sides of the lane boundary segment is the lane centerline, the quality inspection result of the first mapping module is determined to be that a lane centerline exists in a portion of the lane corresponding to the lane boundary segment.

4. The method according to claim 3, characterized in that, The method further includes: If neither of the nearest geographic features on either side of the lane boundary segment is a lane centerline, and if the type of the nearest geographic features on either side of the lane boundary segment is not one of the following, then the quality inspection result of the first mapping module is determined to be that there is no lane centerline in the part of the lane corresponding to the lane boundary segment: The nearest geographical features on both sides of the lane boundary segment are both guide zones, and there are historical driving trajectories between the two guide zones; The nearest geographic features on both sides of the lane boundary segment are both guide zones, the width of the lane between the two guide zones is greater than the width threshold, and the length of the lane between the two guide zones is greater than the length threshold. The nearest geographic feature on one side of the lane boundary segment is the emergency lane; The nearest geographic feature on one side of the lane boundary segment is a green belt; The nearest geographic feature on one side of the lane boundary segment is the reference lane boundary segment, and the distance between the reference lane boundary segment and the lane boundary segment is greater than a distance threshold.

5. A map data quality inspection device, characterized in that, include: The acquisition module is used to acquire map data and quality inspection tasks from multiple mapping modules. The map data corresponding to the multiple mapping modules is obtained by processing the original map data at each step in the mapping process, and each step corresponds to a mapping module; each mapping module corresponds to a quality inspection case table; the quality inspection case table includes multiple quality inspection cases; The processing module is used to determine the target quality inspection cases corresponding to each mapping module from the quality inspection case table corresponding to each mapping module according to the quality inspection tasks of each of the multiple mapping modules; and to perform quality inspection on the map data using the target quality inspection cases corresponding to each mapping module to obtain the quality inspection results corresponding to each mapping module. The map data is used to generate a map; the map includes multiple map tiles; each map tile includes one or more geographic features; the quality inspection task also includes the identifier of the map tile to be inspected among the multiple map tiles; For any one of the plurality of mapping modules, the first mapping module; The processing module is used to parse all or part of the map data of the first mapping module to obtain a feature attribute set; the feature attribute set includes at least one feature attribute of the geographic feature; the feature attribute includes at least one of the following: color attribute, geometric attribute, location attribute, and the identifier of the geographic feature; Based on the identifier of the map tile to be inspected in the quality inspection task of the first mapping module, determine the map tile to be inspected corresponding to the first mapping module; Based on the target quality inspection case corresponding to the first mapping module, determine the geographic features to be inspected and the target feature attributes of the target quality inspection case from the feature attribute set. The target quality inspection use case is used to indicate the geographic feature to be inspected and the target feature attribute of the geographic feature to be inspected, wherein the target feature attribute is at least one of the feature attributes; Based on the target element attributes, the target quality inspection case is executed on the geographic elements to be inspected in the map tiles to be inspected, and the quality inspection result of the first mapping module is obtained. The geographic elements to be inspected include: lane centerline and road boundary; the target element attributes include: the positional attributes of the lane centerline and the positional attributes of the road boundary; the processing module is used to determine whether the position of the road boundary is within a first road surface area based on the positional attributes of the lane centerline, a first preset length, and the positional attributes of the road boundary; the first road surface area is determined by the lane centerline and the first preset length in a first direction; If the location of the road boundary is within the first road surface area, the quality inspection result of the first mapping module is determined to be that the distance between the lane centerline and the road boundary is abnormal; If the location of the road boundary is outside the first road surface area, the quality inspection result of the first mapping module is determined to be that the distance between the lane centerline and the road boundary is normal.

6. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 4.

8. A computer program product, characterized in that, When the computer program product is run in an electronic device, it causes the electronic device to perform the method as described in any one of claims 1 to 4.

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