IP Library › Granted Patent US 11,448,771
Granted Patent B2
US 11,448,771 · App. 16/814,452 · Granted Sep 20, 2022

Method and apparatus for evaluating data, device, and computer-readable storage medium

Inventors: Renlan Cai (Beijing, CN); Wenjie Liu (Beijing, CN); Xiaotao Li (Beijing, CN); Pengfei Yuan (Beijing, CN); Liang Peng (Beijing, CN); Shiyu Song (Beijing, CN)
Assignee: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.
G01S19/23G01S19/47
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Quick Facts
Patent No.
US 11,448,771
App. No.
16/814,452
Granted
Sep 20, 2022
Kind
B2
Abstract

Embodiments of the present disclosure provide a method and apparatus for evaluating data, a device, and a computer-readable storage medium in the field of autonomous driving. The method may include: generating, at least based on satellite navigation data related to a vehicle, a reference position and posture data set of the vehicle; generating, at least based on a part of the satellite navigation data, a test position and posture data set of the vehicle, the accuracy of the test position and posture data set being lower than that of the reference position and posture data set; obtaining a revised position and posture data set for the test position and posture data set; and evaluating, based on the reference position and posture data set and the revised position and posture data set, a correction performance for the test position and posture data set.

Claims (68)

1. A computer-implemented method for evaluating data, comprising:

generating, at least based on satellite navigation data obtained from a scenario with good Global Navigation Satellite System (GNSS) signals and related to a vehicle, a reference position and posture data set of the vehicle;

generating, at least based on a part of the satellite navigation data being used to simulate data in a scenario with poor GNSS signals, a test position and posture data set of the vehicle, accuracy of the test position and posture data set being lower than accuracy of the reference position and posture data set;

obtaining a revised position and posture data set for the test position and posture data set from a data revising apparatus; and

evaluating, based on the reference position and posture data set and the revised position and posture data set, a revision capability of the data revising apparatus for the test position and posture data set.

2. The method according to claim 1 , wherein the generating a reference position and posture data set of the vehicle comprises:

obtaining inertial measurement unit data and wheel speedometer data related to the vehicle; and

generating the reference position and posture data set of the vehicle based on the satellite navigation data; the inertial measurement unit data, and the wheel speedometer data.

3. The method according to claim 1 , wherein the generating a test position and posture data set of the vehicle comprises:

selecting the part of the satellite navigation data based on at least one of carrier-to-noise ratios or satellite altitude angles.

4. The method according to claim 1 , wherein the obtaining a revised position and posture data set for the test position and posture data set data revising apparatus comprises:

sending the test position and posture data set to the data revising apparatus; and

obtaining the revised position and posture data set from the data revising apparatus.

5. The method according to claim 1 , wherein the evaluating a revision capability of the data revising apparatus comprises:

determining, based on position information of data in the reference position and posture data set and the revised position and posture data set, a first number of matching data pairs in the reference position and posture data set and the revised position and posture data set;

determining, based on angle information of data in the reference position and posture data set and the revised position and posture data set, a second number of matching data pairs in the reference position and posture data set and the revised position and posture data set; and

evaluating the revision capability of the data revising apparatus based on at least one of the first number or the second number, and total number of data in the reference position and posture data set.

6. The method according to claim 5 , wherein the determining a first number comprises:

determining, based on position information of first data in the reference position and posture data set and position information of corresponding second data in the revised position and posture data set, a distance between a first position corresponding to the first data and a second position corresponding to the second data; and

determining, in response to the distance being smaller than a threshold distance, that the first data and the second data are a matching data pair.

7. The method according to claim 5 , wherein the determining a second number comprises:

determining, based on angle information of third data in the reference position and posture data set and angle information of corresponding fourth data in the revised position and posture data set, a difference between at least one angle associated with the third data and at least one corresponding angle associated with the fourth data; and

determining, in response to the difference being smaller than a threshold angle difference, that the third data and the fourth data are a matching data pair.

8. An apparatus for evaluating data, comprising:

at least one processor; and

a memory storing instructions, wherein the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:

generating, at least based on satellite navigation data obtained from a scenario with good Global Navigation Satellite System (GNSS) signals and related to a vehicle, a and posture data set of the vehicle;

generating, at least based on a part of the satellite navigation data used to simulate data in a scenario with poor GNSS signals, a test position and posture data set of the vehicle, accuracy of the test position and posture data set being lower than accuracy of the reference position and posture data set;

obtaining a revised position and posture data set for the test position and posture data set from a data revising apparatus; and

evaluating, based on the reference position and posture data set and the revised position and posture data set, a revision capability of the data revising apparatus for the test position and posture data set.

9. The apparatus according to claim 8 , wherein the generating a reference position and posture data set of the vehicle comprises:

obtaining inertial measurement unit data and wheel speedometer data related to the vehicle; and

generating the reference position and posture data set of the vehicle based on the satellite navigation data, the inertial measurement unit data, and the wheel speedometer data.

10. The apparatus according to claim 8 , wherein the generating a test position and posture data set of the vehicle comprises:

selecting the part of the satellite navigation data based on at least one of carrier-to-noise ratios or satellite altitude angles.

11. The apparatus according to claim 8 , wherein the obtaining a revised position and posture data set for the test position and posture data set from a data revising apparatus comprises:

sending the test position and posture data set to the data revising apparatus; and

obtaining the revised position and posture data set from the data revising apparatus.

12. The apparatus according to claim 8 wherein the evaluating a revision capability of the data revising apparatus comprises:

determining, based on position information of data in the reference position and posture data set and the revised position and posture data set, a first number of matching data pairs in the reference position and posture data set and the revised position and posture data set;

determining, based on angle information of data in the reference position and posture data set and the revised position and posture data set, a second number of matching data pairs in the reference position and posture data set and the revised position and posture data set; and

evaluating the revision capability of the data revising apparatus based on at least one of the first number or the second number, and total number of data in the reference position and posture data set.

13. The apparatus according to claim 12 , wherein the determining a first number comprises:

determining, based on position information of first data in the reference position and posture data set and position information of corresponding second data in the revised position and posture data set, a distance between a first position corresponding to the first data and a second position corresponding to the second data; and

determining, in response to the distance being smaller than a threshold distance, that the first data and the second data are a matching data pair.

14. The apparatus according to claim 12 , wherein the determining a second number comprises:

determining, based on angle information of third data in the reference position and posture data set and angle information of corresponding fourth data in the revised position and posture data set, a difference between at least one angle associated with the third data and at least one corresponding angle associated with the fourth data; and

determining, in response to the difference being smaller than a threshold angle difference, that the third data and the fourth data are a matching data pair.

15. A non-transitory computer-readable storage medium, storing a computer program thereon, wherein when the program is executed by a processor, cause the processor to perform operations, the operations comprising:

generating, at least based on satellite navigation data obtained from a scenario with good Global Navigation Satellite System (GNSS signals and related to a vehicle, a reference position and posture data set of the vehicle;

generating, at least based on a part of the satellite navigation data being used to simulate data in a scenario with poor GNSS signals, a test position and posture data set of the vehicle, accuracy of the test position and posture data set being lower than accuracy of the reference position and posture data set;

obtaining a revised position and posture data set for the test position and posture data set from a data revising apparatus; and

evaluating, based on the reference position and posture data set and the revised position and posture data set, a revision capability for the test position and posture data set.

16. The non-transitory computer-readable storage medium according to claim 15 , wherein the generating a reference position and posture data set of the vehicle comprises:

obtaining inertial measurement unit data and wheel speedometer data related to the vehicle; and

generating the reference position and posture data set of the vehicle based on the satellite navigation data, the inertial measurement unit data, and the wheel speedometer data.

17. The non-transitory computer-readable storage medium according to claim 15 , wherein the generating a test position and posture data set of the vehicle comprises:

selecting the part of the satellite navigation data based on at least one of carrier-to-noise ratios or satellite altitude angles.

18. The non-transitory computer-readable storage medium according to claim 15 , wherein the obtaining a revised position and posture data set for the test position and posture data set from the data revising apparatus comprises:

sending the test position and posture data set to the data revising apparatus; and

obtaining the revised position and posture data set from the data revising apparatus.

19. The non-transitory computer-readable storage medium according to claim 15 , wherein the evaluating a revision capability of the data revising apparatus comprises:

determining, based on position information of data in the reference position and posture data set and the revised position and posture data set, a first number of matching data pairs in the reference position and posture data set and the revised position and posture data set;

determining, based on angle information of data in the reference position and posture data set and the revised position and posture data set, a second number of matching data pairs in the reference position and posture data set and the revised position and posture data set; and

evaluating the revision capability of the data revising apparatus based on at least one of the first number or the second number, and total number of data in the reference position and posture data set.

20. The non-transitory computer-readable storage medium according to claim 19 , wherein the determining a first number comprises:

determining, based on position information of first data in the reference position and posture data set and position information of corresponding second data in the revised position and posture data set, a distance between a first position corresponding to the first data and a second position corresponding to the second data; and

determining, in response to the distance being smaller than a threshold distance, that the first data and the second data are a matching data pair.

Assignments (2)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Oct 13, 2021
From: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.
To: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.
Reel/Frame 058241/0248 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Apr 13, 2020
From: CAI, RENLAN; LIU, WENJIE; LI, XIAOTAO; YUAN, PENGFEI; PENG, LIANG; SONG, SHIYU
To: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.
Reel/Frame 052376/0793 →
Priority Claims (1)
CN 201910838298.6 · Sep 5, 2019 · national
Continuity (1)
Related Publication 20210072404A1 · Mar 11, 2021