CN107241441A - A kind of new energy unmanned vehicle vehicular map update method and system - Google Patents
A kind of new energy unmanned vehicle vehicular map update method and system Download PDFInfo
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- CN107241441A CN107241441A CN201710630090.6A CN201710630090A CN107241441A CN 107241441 A CN107241441 A CN 107241441A CN 201710630090 A CN201710630090 A CN 201710630090A CN 107241441 A CN107241441 A CN 107241441A
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- H—ELECTRICITY
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
- G08G1/137—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops the indicator being in the form of a map
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
A kind of new energy unmanned vehicle vehicular map update method and system, this method include：Charging gun Connection Step, vehicle-mounted data uploading step, cartography step, map download step.Because the application is after the charging gun access port of new energy unmanned vehicle is connected with the charging gun of charging pile, utilize charging pile and optical fiber upload transfers vehicle-mounted data, so that unmanned vehicle is when charging, unmanned vehicle platform can remake map on the vehicle-mounted data according to upload, the map remake is back to the vehicle-mounted hard disks of unmanned vehicle by optical fiber and charging pile, updates vehicular map, compared with prior art, data transmission efficiency is higher, cost is relatively low, and map updating method is more convenient, more efficient.
Description
Technical field
The present invention relates to unmanned technical field, and in particular to a kind of new energy unmanned vehicle vehicular map update method and
System.
Background technology
High-precision map is one of unpiloted core technology, and accurately map is to unmanned vehicle positioning, navigation and controls,
And safety is most important.The accuracy of the information of vehicular map directly determines the security of Unmanned Systems and reliable
Property.Precisely higher (Centimeter Level), more new demand are more frequent for the requirement of unmanned vehicle vehicular map, can also provide semantic information, because
This, makes high-precision map and is not easy to, it is necessary to the mass data that fully analysis onboard sensor is gathered.At present, how vehicle-mounted
The mass data of sensor collection is uploaded to unmanned vehicle server of cloud platform, and how to make unmanned vehicle cloud platform
High-precision map downloads to unmanned vehicle and updates the problem of vehicular map is urgent need to resolve.
Existing vehicular map update scheme is, by unloading vehicle-mounted hard disks daily, will be stored in the sensing of vehicle-mounted hard disks
The mass data of device collection is manually copied to computer, then data are uploaded into unmanned vehicle server of cloud platform, unmanned vehicle cloud
Platform is according to the new map of the data creating of upload, the side for then periodically downloading new map by disk copy or wireless network
Formula updates the vehicular map of unmanned vehicle.Such method human intervention is excessive, less efficient, and dismounting hard disk is also easily right daily
Hard disk causes to damage.
Vehicular map update scheme also is that, by wireless communication networks, such as 4G networks in real time gather sensor
Mass data is uploaded to unmanned vehicle server of cloud platform, and unmanned vehicle cloud platform is according to the new map of data creating of upload, then
New map is periodically updated to the vehicular map of unmanned vehicle by way of wireless network is downloaded.It may be such that using cordless communication network
Data transfer and map, which are downloaded, to be more convenient, and still, the data bandwidth of cordless communication network is often smaller, for example, 4G network speeds
Only 100Mbps, the data of magnanimity, which are uploaded, needs longer time, and data transmission efficiency is low.Moreover, in cordless communication network not
, there is the phenomenon that data leakage is passed in the place that can be covered, it is possible to cause data not upload normally.In addition, utilizing radio communication
The data that network uploads magnanimity generally require a larger expense.
The content of the invention
The application provides a kind of new energy unmanned vehicle vehicular map update method and system, while unmanned vehicle charges,
The mass data that unmanned vehicle is gathered is uploaded to unmanned vehicle cloud platform and remakes map, then the map made is returned into nobody
Car, updates vehicular map, and map updating method is more convenient, more efficient.
It is described new according in a first aspect, provide a kind of new energy unmanned vehicle vehicular map update method in a kind of embodiment
The charging gun access port of energy unmanned vehicle includes：Power injection interface and the first data-interface, correspondingly, charging gun is provided with pair
The electric energy output interface answered and the second data-interface, this method include：
Charging gun Connection Step, the charging gun access port is connected with the charging gun of charging pile, and new energy unmanned vehicle leads to
Cross the power injection interface and electric energy output interface is obtained while charging, also export vehicle-mounted by first data-interface
The vehicle-mounted data stored in hard disk；
Vehicle-mounted data uploading step, charging pile obtains what first data-interface was exported by second data-interface
The vehicle-mounted data of acquisition is uploaded to unmanned vehicle cloud platform by vehicle-mounted data, charging pile by optical fiber；
Cartography step, unmanned vehicle cloud platform remakes map according to the vehicle-mounted data received；
The map datum remake is downloaded to vehicle-mounted hard disks by map download step, unmanned vehicle cloud platform, so as to update
Vehicular map.
According to second aspect, a kind of new energy unmanned vehicle vehicular map more new system, the system are provided in a kind of embodiment
The charging gun access port of applicable new energy unmanned vehicle includes：Power injection interface and the first data-interface, the system include：
Charging pile, its charging gun is provided with corresponding electric energy output interface and the second data-interface, and charging pile passes through electric energy
Output interface is charged for new energy unmanned vehicle, and the car stored in new energy unmanned vehicle vehicle-mounted hard disks is obtained by the second data-interface
Carry data；
Optical fiber, the vehicle-mounted data for charging pile to be obtained is uploaded to unmanned vehicle cloud platform；
Unmanned vehicle cloud platform, for receiving the vehicle-mounted data that charging pile is uploaded by optical fiber, and according to vehicle-mounted data again
Make map；The map datum for being additionally operable to remake is back to vehicle-mounted hard disks, so as to update vehicular map.
According to above-described embodiment, because the application is in the charging gun access port and the charging gun of charging pile of new energy unmanned vehicle
After being connected, charging pile and optical fiber upload transfers vehicle-mounted data are utilized so that unmanned vehicle is when charging, and unmanned vehicle platform can
Map is remake according on the vehicle-mounted data of upload, the map remake is back to the car of unmanned vehicle by optical fiber and charging pile
Hard disk is carried, vehicular map is updated, compared with prior art, data transmission efficiency is higher, cost is relatively low, and map updating method is more square
Just it is, more efficient.
Brief description of the drawings
Fig. 1 is a kind of new energy unmanned vehicle charging gun access port schematic diagram of embodiment；
Fig. 2 is a kind of charging gun interface diagram of embodiment；
A kind of new energy unmanned vehicle vehicular map update method flow chart that Fig. 3 provides for the application；
Fig. 4 updates system schematic for the new energy unmanned vehicle vehicular map that the application is provided；
Fig. 5 is a kind of new energy unmanned vehicle vehicular map renewal process schematic diagram of embodiment.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.Wherein different embodiments
Middle similar component employs associated similar element numbers.In the following embodiments, many detailed descriptions be in order to
The application is better understood.However, those skilled in the art can be without lifting an eyebrow recognize, which part feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Certain operations that please be related do not show or description that this is the core in order to avoid the application by mistake in the description
Many descriptions are flooded, and to those skilled in the art, be described in detail these associative operations be not it is necessary, they
The general technology knowledge of description and this area in specification can completely understand associative operation.
In addition, feature described in this description, operation or feature can be combined to form respectively in any suitable way
Plant embodiment.Meanwhile, each step or action in method description can also be aobvious and easy according to those skilled in the art institute energy
The mode carry out order exchange or adjustment seen.Therefore, the various orders in specification and drawings are intended merely to clearly describe a certain
Individual embodiment, is not meant to be necessary order, wherein some sequentially must comply with unless otherwise indicated.
Because new energy unmanned vehicle is in driving procedure, the data per second that will all gather magnanimity, the data of these magnanimity are needed
Upload to unmanned vehicle cloud platform to be used to produce more preferable map, the map made will pass back to unmanned vehicle, so that
Update vehicular map.However, in the prior art, being uploaded by way of unloading vehicle-mounted hard disks daily and by cordless communication network
Mode, all there is the problem of efficiency of transmission is relatively low.Inventor is needed daily when conceiving the application based on new energy unmanned vehicle
The present situation to be charged is charged there is provided a kind of new energy unmanned vehicle vehicular map update method using charging pile for unmanned vehicle
While, the mass data stored in vehicle-mounted hard disks is uploaded to unmanned vehicle cloud platform by optical fiber, in unmanned vehicle cloud platform system
Perform after new map, and new map is returned into unmanned vehicle using optical fiber and charging pile, so as to update vehicular map.
Embodiment one：
A kind of new energy unmanned vehicle vehicular map update method of the application, with reference to Fig. 1 and Fig. 2, the applicable new energy of this method
The charging gun access port of source unmanned vehicle includes：The data-interface 11 of power injection interface 12 and first, correspondingly, charging gun is provided with
The corresponding data-interface 31 of electric energy output interface 32 and second.In some embodiments, to prevent forceful electric power during charging from being passed to data
It is defeated to interfere, first screen layer 13 is additionally provided between the data-interface 11 of power injection interface 12 and first, electric energy input connects
Secondary shielding layer 33 is additionally provided between the data-interface 31 of mouth 32 and second.
With reference to Fig. 3 and Fig. 4, this method includes：
Charging gun Connection Step 100, charging gun access port is connected with the charging gun of charging pile, and new energy unmanned vehicle passes through
While power injection interface 12 and electric energy output interface 32 obtain charging, vehicle-mounted hard disks are also exported by the first data-interface 31
The vehicle-mounted data of middle storage；
Vehicle-mounted data uploading step 200, charging pile obtains what the first data-interface 31 was exported by the second data-interface 11
The vehicle-mounted data of acquisition is uploaded to unmanned vehicle cloud platform by vehicle-mounted data, charging pile by optical fiber；
Cartography step 300, unmanned vehicle cloud platform is according to the vehicle-mounted data received, using making ground nomography again
Make map；
The map datum remake is transmitted through the fiber to charging pile by map download step 400, unmanned vehicle cloud platform,
Charging pile again by charging gun by the Map Data Transmission remake to vehicle-mounted hard disks, so as to update vehicular map.
In some embodiments, the vehicle-mounted data of the first data-interface 11 output includes：New energy unmanned vehicle number information and
The mass data of new energy unmanned vehicle sensor collection.
In one embodiment, the form of the vehicle-mounted data is：
<Number information, time, data type, annotation>
Wherein, number information is that, in order to distinguish different cars, unmanned vehicle cloud platform passes through new energy unmanned vehicle number information
Distinguish the data that different cars are uploaded；Time is the acquisition time of the data currently uploaded, convenient to distinguish what different time was collected into
Data；Data type can be view data, text data, laser radar data, gps data etc.；Annotation is to file
Deeply explain.
In one embodiment, vehicle-mounted data uploading step 200 includes：
Charging pile obtains the mass data of new energy unmanned vehicle number information and the collection of new energy unmanned vehicle sensor；
The new energy unmanned vehicle number information of acquisition is uploaded to unmanned vehicle cloud platform by charging pile by optical fiber；
Unmanned vehicle cloud platform generates log-on message or inquiry log-on message according to the new energy unmanned vehicle number information,
And feed back registered information to charging pile；
Charging pile is received after registered information, the mass data that the new energy unmanned vehicle sensor of acquisition is gathered
Unmanned vehicle cloud platform is uploaded to by optical fiber.
It is pointed out that same new energy unmanned vehicle number information need to only generate a log-on message, generating
After log-on message, same new energy unmanned vehicle number information is uploaded again, server will according to new energy unmanned vehicle number information,
Automatically inquire about and match corresponding log-on message.
In some embodiments, the mass data of new energy unmanned vehicle sensor collection includes:Driving trace, drive recorder
Data of monitor video, the data of laser radar collection and ultrasonic sensor collection etc..In these mass datas, some are
Treated by the in-vehicle processor of new energy unmanned vehicle running over journey, some are not processed also, if longer-term storage in
In vehicle-mounted hard disks, the memory space of vehicle-mounted hard disks will be taken, and in order to produce more preferable map, it is also desirable to by these magnanimity
Data upload to unmanned vehicle cloud platform.
In some embodiments, cartography step 300 includes：
Vehicle-mounted data is read, vehicle-mounted data at least includes Laser Radar Scanning data, view data and gps data；
According to vehicle-mounted data, the point cloud of different frame is generated；
By the point cloud of different frame into a cloud map；
The grid of default size is generated on described cloud map；
Semantic information is added on each grid, semantic information at least includes track sign, traffic lights and speed-limiting messages.
Correspondingly, with reference to Fig. 4, based on above-mentioned vehicular map update method, present invention also provides a kind of new energy nobody
Car vehicular map more new system, the system includes：Charging pile, optical fiber and unmanned vehicle cloud platform.
The charging gun of charging pile is provided with the data-interface 31 of electric energy output interface 32 and second, and charging pile is exported by electric energy
Interface 32 is charged for new energy unmanned vehicle, and the car stored in new energy unmanned vehicle vehicle-mounted hard disks is obtained by the second data-interface 31
Data are carried, and the vehicle-mounted data that charging pile is obtained uploads unmanned vehicle cloud platform by optical fiber.
Unmanned vehicle cloud platform is used to receive the vehicle-mounted data that charging pile is uploaded by optical fiber, and is made again according to vehicle-mounted data
Make map；Unmanned vehicle cloud platform is also by optical fiber by the Map Data Transmission remake to charging pile.Charging pile is again by filling
The map datum remake is back to vehicle-mounted hard disks by the second data-interface 31 of electric rifle, so as to update vehicular map.
As shown in figure 5, being a kind of new energy unmanned vehicle vehicular map renewal process schematic diagram of embodiment, specifically include：
First, after the charging gun access port of new energy unmanned vehicle is connected with the charging gun of charging pile, new energy unmanned vehicle
While obtaining charging pile charging by power injection interface 12, pass through the first data-interface 11 and export what is stored in vehicle-mounted hard disks
Vehicle-mounted data is to charging pile；
Secondly, the vehicle-mounted data is uploaded to unmanned vehicle cloud platform by charging pile after the vehicle-mounted data is obtained by optical fiber；
Again, unmanned vehicle cloud platform remakes map according to the vehicle-mounted data received using ground nomography is made；
Finally, the map datum remake is transmitted through the fiber to charging pile by unmanned vehicle cloud platform, and charging pile leads to again
Overcharge rifle by the Map Data Transmission remake to vehicle-mounted hard disks, so as to update vehicular map.
In summary, the effect of optical fiber is：The vehicle-mounted data that charging pile is obtained is uploaded to unmanned vehicle cloud platform, and will
The Map Data Transmission that unmanned vehicle cloud platform is remake is to charging pile.
Because for the ease of charging, existing charging pile is generally connected by optical fiber with computer or the server of charging
Connect, optical fiber used herein need not simultaneously be laid again, will not additionally increase cost, with existing vehicular map update scheme
Compare, the vehicular map update method and system data efficiency of transmission of the application are higher, cost is relatively low.
Embodiment two：
Because the data volume and time that is little and remaking map of downloading vehicular map can exceed that charging continues
Time, for avoid unmanned vehicle complete charging when, unmanned vehicle cloud platform has not remake map also, in map download step
In 400, the map datum remake can be also downloaded to vehicle-mounted hard disks by unmanned vehicle cloud platform by cordless communication network, so that
Update vehicular map.
In some embodiments, cordless communication network includes mobile communications network or WIFI network.
It will be understood by those skilled in the art that all or part of function of various methods can pass through in above-mentioned embodiment
The mode of hardware is realized, can also be realized by way of computer program.When all or part of function in above-mentioned embodiment
When being realized by way of computer program, the program can be stored in a computer-readable recording medium, and storage medium can
With including：Read-only storage, random access memory, disk, CD, hard disk etc., perform the program above-mentioned to realize by computer
Function.For example, by program storage in the memory of equipment, when passing through computing device memory Program, you can in realization
State all or part of function.In addition, when in above-mentioned embodiment all or part of function realized by way of computer program
When, the program can also be stored in the storage mediums such as server, another computer, disk, CD, flash disk or mobile hard disk
In, by download or copying and saving into the memory of local device, or version updating is carried out to the system of local device, when logical
When crossing the program in computing device memory, you can realize all or part of function in above-mentioned embodiment.
Use above specific case is illustrated to the present invention, is only intended to help and is understood the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, it can also make some simple
Deduce, deform or replace.
Claims (10)
1. a kind of new energy unmanned vehicle vehicular map update method, it is characterised in that the applicable new energy unmanned vehicle of this method
Charging gun access port includes：Power injection interface and the first data-interface, correspondingly, charging gun are provided with corresponding electric energy output
Interface and the second data-interface, this method include：
Charging gun Connection Step, the charging gun access port is connected with the charging gun of charging pile, and new energy unmanned vehicle passes through institute
State power injection interface and electric energy output interface is obtained while charging, also pass through first data-interface and export vehicle-mounted hard disks
The vehicle-mounted data of middle storage；
Vehicle-mounted data uploading step, charging pile obtains the vehicle-mounted of the first data-interface output by second data-interface
The vehicle-mounted data of acquisition is uploaded to unmanned vehicle cloud platform by data, charging pile by optical fiber；
Cartography step, unmanned vehicle cloud platform remakes map according to the vehicle-mounted data received；
The map datum remake is downloaded to vehicle-mounted hard disks by map download step, unmanned vehicle cloud platform, so as to update vehicle-mounted
Map.
2. the method as described in claim 1, it is characterised in that the map download step includes：
The map datum remake is transmitted through the fiber to charging pile by unmanned vehicle cloud platform, and charging pile again will by charging gun
The Map Data Transmission remake is to vehicle-mounted hard disks, so as to update vehicular map；Or,
The map datum remake is downloaded to vehicle-mounted hard disks by unmanned vehicle cloud platform by cordless communication network, so that more new car
Carry map.
3. system as claimed in claim 4, it is characterised in that the cordless communication network includes mobile communications network or WIFI
Network.
4. the method as described in claim 1, it is characterised in that the vehicle-mounted data includes：New energy unmanned vehicle number information
The mass data gathered with new energy unmanned vehicle sensor.
5. method as claimed in claim 4, it is characterised in that including：The vehicle-mounted data uploading step includes：
Charging pile obtains the mass data of new energy unmanned vehicle number information and the collection of new energy unmanned vehicle sensor；
The new energy unmanned vehicle number information of acquisition is uploaded to unmanned vehicle cloud platform by charging pile by optical fiber；
Unmanned vehicle cloud platform generates log-on message or inquires about log-on message according to the new energy unmanned vehicle number information, and to
Charging pile feeds back registered information；
Charging pile is received after registered information, and the mass data that the new energy unmanned vehicle sensor of acquisition is gathered passes through
Optical fiber is uploaded to unmanned vehicle cloud platform；
Unmanned vehicle cloud platform stores the mass data of the new energy unmanned vehicle sensor collection according to the log-on message.
6. the method as described in claim 1, it is characterised in that the cartography step includes：
Vehicle-mounted data is read, the vehicle-mounted data at least includes Laser Radar Scanning data, view data and gps data；
According to vehicle-mounted data, the point cloud of different frame is generated；
By the point cloud of different frame into a cloud map；
The grid of default size is generated on described cloud map；
Semantic information is added on each grid, institute's semantic information at least includes track sign, traffic lights and speed-limiting messages.
7. a kind of new energy unmanned vehicle vehicular map more new system, it is characterised in that the applicable new energy unmanned vehicle of the system
Charging gun access port includes：Power injection interface and the first data-interface, the system include：
Charging pile, its charging gun is provided with corresponding electric energy output interface and the second data-interface, and charging pile is exported by electric energy
Interface is charged for new energy unmanned vehicle, and the Vehicular data stored in new energy unmanned vehicle vehicle-mounted hard disks is obtained by the second data-interface
According to；
Optical fiber, the vehicle-mounted data for charging pile to be obtained is uploaded to unmanned vehicle cloud platform；
Unmanned vehicle cloud platform, remakes for receiving the vehicle-mounted data that charging pile is uploaded by optical fiber, and according to vehicle-mounted data
Map；The map datum for being additionally operable to remake is back to vehicle-mounted hard disks, so as to update vehicular map.
8. system as claimed in claim 7, it is characterised in that the unmanned vehicle cloud platform be able to will be remake by optical fiber
Map Data Transmission is to charging pile, and the charging pile is again by the second data-interface of charging gun by the map datum remake
Vehicle-mounted hard disks are back to, so as to update vehicular map.
9. system as claimed in claim 7, it is characterised in that the unmanned vehicle cloud platform can also be incited somebody to action by cordless communication network
The map datum remake is downloaded to vehicle-mounted hard disks, so as to update vehicular map.
10. system as claimed in claim 9, it is characterised in that the cordless communication network include mobile communications network or
WIFI network.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
| US11900536B2 (en) | 2016-08-29 | 2024-02-13 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| US10937231B2 (en) | 2018-06-14 | 2021-03-02 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for updating a high-resolution map based on binocular images |
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| CN110188157A (en) * | 2019-06-05 | 2019-08-30 | 北京百度网讯科技有限公司 | Warehouse-out method, device, equipment and the storage medium of high-precision map datum |
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| CN114572042A (en) * | 2020-11-30 | 2022-06-03 | 比亚迪股份有限公司 | Charging map updating method, device and system, electronic equipment and storage medium |
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