CN113656420B - Map updating method and device - Google Patents
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- CN113656420B CN113656420B CN202110897193.5A CN202110897193A CN113656420B CN 113656420 B CN113656420 B CN 113656420B CN 202110897193 A CN202110897193 A CN 202110897193A CN 113656420 B CN113656420 B CN 113656420B
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The embodiment of the invention discloses a method and a device for updating a map, wherein the method comprises the following steps: the vehicle carries out road boundary identification through a laser radar at each sampling moment; the vehicle reorders the boundary points identified by the laser radar to obtain new boundary point data orderly along the driving direction; and the vehicle judges whether the distance between the new boundary and the old boundary is larger than a threshold value according to the new boundary point data and the pre-stored old boundary data, and if so, the new boundary point data is used for replacing the old boundary data. According to the scheme provided by the embodiment of the invention, the boundary identification data is reported in real time by the vehicle in operation, so that the map boundary data is updated, the cost of map updating is reduced, and the high efficiency, accuracy and instantaneity of map updating are improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle, in particular to a method and a device for updating a map.
Background
Mining is the basis for economic development. There are two ways of mining ores: one is underground mining and the other is surface mining. The mining method has the advantages that the surface mining production efficiency is higher for the mine field with the ore deposit close to the ground, but the mining environment of the mine field is bad, and many potential safety hazards exist in manual driving of the mine car. In addition, the mining area transportation is relatively closed, the mining area transportation belongs to point-to-point transportation, the line is relatively fixed, and the speed of the mining area transportation is low. Therefore, unmanned has better performance in surface mine exploitation. While unmanned is more dependent on a high-precision map, the precision of map acquisition can influence the safety of unmanned vehicle operation. More importantly, as the mining and accumulation of the excavator occur, the mine area changes in real time, and serious accidents occur by adopting a map which does not conform to the real road condition. The map is repeatedly collected and updated manually, so that the labor cost is increased, and the working efficiency is reduced.
Therefore, it is needed to provide a map updating scheme, which is suitable for the continuously changing road conditions.
Disclosure of Invention
It is an aim of embodiments of the present invention to provide a method and apparatus for map updating that overcomes or at least alleviates at least one of the above-mentioned disadvantages of the prior art.
In order to achieve the above object, an embodiment of the present invention provides a method for updating a map, including:
step 1, a vehicle carries out road boundary identification through a laser radar at each sampling moment;
step 2, the vehicle reorders the boundary points identified by the laser radar to obtain new boundary point data orderly along the driving direction;
and 3, judging whether the distance between the new boundary and the old boundary is larger than a threshold value according to the new boundary point data and the pre-stored old boundary data by the vehicle, and if so, replacing the old boundary data by using the new boundary point data.
Preferably, the reordering comprises:
and taking the vehicle position at the previous sampling moment as the coordinate origin, acquiring the included angle between the connecting line of each new boundary point and the coordinate origin and the abscissa axis, and sorting the included angles from large to small to obtain the new boundary point data orderly along the driving direction.
Preferably, the reordering further comprises:
and determining a connecting line of the vehicle position at the last sampling moment and the vehicle position at the current moment, and rotating the connecting line anticlockwise by 90 degrees to be an x-axis and rotating the connecting line by 180 degrees to be a y-axis.
Preferably, step 3 includes:
and resampling the same points of the old boundary data and the new boundary point data, calculating the distance between the corresponding sampling points, if all the distances are smaller than the threshold value, not updating the boundary, and if the distances are larger than the threshold value, replacing the old boundary data by using the new boundary point data.
Preferably, the threshold value is the tire width.
Preferably, replacing old boundary data with the new boundary data includes:
searching an old boundary point closest to a first new boundary point in a database as a starting point, traversing the old boundary points sequentially, determining the old boundary point closest to a last new boundary point as an end point, and determining the position of the old boundary to be updated according to the starting point and the end point;
deleting the data between the starting point and the end point, inserting the new boundary point data from the starting point, refreshing the boundary point of the database, and finishing the updating of the map boundary.
Preferably, replacing old boundary data with the new boundary data includes:
a map uploading request is sent through a vehicle-mounted client;
receiving address information sent by a tracking server of a distributed file system;
uploading the new boundary point data to a storage server according to the address information;
and receiving the path information and the file name returned by the storage server, and storing the path information and the file name to finish map updating.
The embodiment of the invention also provides a map updating device, which comprises:
the identification module is used for carrying out road boundary identification through a laser radar at each sampling moment;
the sequencing module is used for reordering the boundary points identified by the laser radar to obtain new boundary point data orderly along the driving direction;
the judging module is used for judging whether the distance between the new boundary and the old boundary is larger than a threshold value according to the new boundary point data and the pre-stored old boundary data;
and the updating module is used for replacing the old boundary data by using the new boundary data when the judging result of the judging module is larger than the threshold value.
Preferably, the sorting module is configured to:
and taking the vehicle position at the previous sampling moment as the coordinate origin, acquiring the included angle between the connecting line of each new boundary point and the coordinate origin and the abscissa axis, and sorting the included angles from large to small to obtain the new boundary point data orderly along the driving direction.
Preferably, the sorting module is configured to:
and determining a connecting line of the vehicle position at the last sampling moment and the vehicle position at the current moment, and rotating the connecting line anticlockwise by 90 degrees to be an x-axis and rotating the connecting line by 180 degrees to be a y-axis.
The embodiment of the invention adopts the technical proposal, and has the following advantages:
the boundary identification data is reported in real time by the vehicle in operation, so that the map boundary data is updated, the cost of map updating is reduced, and the high efficiency, accuracy and instantaneity of map updating are improved.
Drawings
Fig. 1 is a flowchart of a map updating method according to an embodiment of the present invention.
Fig. 2 is another flow chart of a map updating method according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a global path according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a local boundary point identified by an unmanned vehicle according to an embodiment of the present invention.
Fig. 5 and fig. 6 are schematic diagrams of road boundary point reordering according to an embodiment of the present invention.
FIG. 7 is a schematic diagram of resampling old and new boundaries provided by an embodiment of the invention.
Fig. 8, 9, 10, and 11 are schematic diagrams showing a boundary update process.
Fig. 12 is a schematic structural diagram of a map updating apparatus according to an embodiment of the present invention.
Detailed Description
In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate an orientation or a positional relationship based on that shown in the drawings, only for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.
In the case of no conflict, the technical features in the embodiments and the implementation modes of the present invention may be combined with each other, and are not limited to the embodiments or implementation modes where the technical features are located.
The invention will be further described with reference to the drawings and the specific embodiments, it being noted that the technical solution and the design principle of the invention will be described in detail with only one optimized technical solution, but the scope of the invention is not limited thereto.
The following terms are referred to herein, and for ease of understanding, the meaning thereof is described below. It will be understood by those skilled in the art that other names are possible for the following terms, but any other name should be construed to be consistent with the terms set forth herein without departing from their meaning.
The embodiment of the invention provides a map updating method, which can be applied to unmanned vehicles and other vehicles needing to update a map, wherein fig. 1 shows a flow diagram of the map updating method, and the method comprises the following steps:
in step 110, the vehicle performs road boundary identification by the laser radar at each sampling time.
And 120, the vehicle reorders the boundary points identified by the laser radar to obtain new boundary point data ordered along the driving direction.
Step 130, the vehicle judges whether the distance between the new boundary and the old boundary is greater than a threshold according to the new boundary point data and the pre-stored old boundary data, and if so, step 140 is executed; if not, the process waits for the next sampling time to execute step 110.
And 140, replacing old boundary data by using the new boundary data.
The map updating method provided by the embodiment of the invention is described below by a specific example. Fig. 2 shows a flow chart of the map updating method provided by this example.
Step 210, an original map is acquired.
The original map acquisition is the basis of map updating, and the acquisition modes comprise the following two modes: one is acquired by using a GNSS-IMU high-precision inertial integrated navigation positioning system, and the other is acquired by using a laser radar. The method for acquiring the current position by adopting the GNSS method is simple, does not need to consume extra calculation force, and calculates the position of the acquisition vehicle. The laser radar acquisition mode depends on the prior map, and if the prior map is wrong, the accurate current position cannot be obtained through calculation. In the example, RTK differential positioning is realized by adopting a GNSS-IMU, and the geographic coordinates of the acquisition vehicle are acquired to obtain an original map.
It will be readily appreciated that in addition to the two original map acquisition methods described above, the original map may be pre-entered into the vehicle database in other ways, for example.
FastDFS (distributed file system) is employed in this example to send the collected raw map file to the background. FastDFS is an open-source high-performance distributed file system with main functions including: file storage, file synchronization and file access, and high capacity and load balancing. The FastDFS includes a tracking server, a storage server, and a client. After the tracking server and the storage server are started, the storage server periodically informs the tracking server of the storage state information. When the client has an uploading request, the tracking server queries available storage servers and returns the IP and port numbers thereof to the client. The client starts uploading the file to the storage server, and after the storage server generates the path information and the file name, the uploaded content is written into the disk, and the path information and the file name are returned to the client. And the client stores the file information and completes the file uploading function.
The map database used in this example is MySQL (relational database management system) database, in which map data exists in the form of a data table, and data query, management, and operation are convenient.
Step 220, the unmanned vehicle performs path planning according to the road boundary data in the database and the designated starting point and the designated end point.
Preferably, the local path planning may adopt an a-x algorithm, and a global path is obtained by combining a fixed reference path acquired by the road area and a directed graph, and a schematic diagram of the planned global path is shown in fig. 3.
In step 230, the unmanned vehicle travels along the planned path and performs boundary recognition at each sampling instant.
In this example, the vehicle performs road boundary identification based on the laser point cloud data and the vehicle state information, and the identified local boundary points are shown in fig. 4. The boundary points identified by the laser radar are scattered and unordered, the unordered boundary points cannot be directly replaced into the database, and the unordered boundary points need to be reordered.
In the example, the vehicle receives the original data of the surrounding environment scanned by the laser radar, and the road boundary points are obtained by carrying out processing such as point cloud characteristic calculation, segmentation clustering and the like by combining the state data of the vehicle through data analysis and coordinate conversion. This step may employ known road boundary identification techniques, which are not limited herein.
The reordering schematic in this example is shown in fig. 5 and 6. The principle of reordering is to solve the included angle between each new coordinate point and the connecting line of the origin of coordinates and the abscissa axis, and order the included angles from large to small, so as to finally obtain the ordered boundary points along the driving direction. In fig. 5, the xOy coordinate system is an initial coordinate system, the abscissa is a horizontal coordinate, the ordinate is a vertical coordinate, and the origin is the position of the unmanned vehicle at the previous time. The sorting of the included angles is complicated according to the initial coordinate system, if the vehicle running direction is the positive direction of the abscissa, the included angles are arranged in the order from big to small, and if the vehicle running direction is the negative direction of the abscissa, the included angles are arranged in the order from small to big. The judgment is complex and the universality is poor. In this example, the vehicle position at the previous moment and the current moment are connected, the connecting line is rotated anticlockwise by 90 degrees to be the x-axis, rotated by 180 degrees to be the y-axis, and the origin is still the position of the vehicle at the previous moment, so as to obtain the x 'Oy' coordinate system.
The coordinate system is proposed and analyzed from the schematic as shown in fig. 6. (x) 1 ,y 1 ) For the position of the vehicle at the previous moment, (x) 2 ,y 2 ) For the current time vehicle position, (x) 3 ,y 3 ) To identify one of the boundary points. Taking this point as an example, the angle is solved. Alpha 1 The value of the included angle between the boundary point and the horizontal direction is as follows:
α 2 the value of the included angle between the running direction of the vehicle and the horizontal angle is as follows:
α 3 the calculated included angle between the point and the x axis is obtained by the geometric relationship:
α 3 ＝-(90°-a 1 +α 2 )＝a 1 -α 2 -90° (3)
traversing all the identified boundary points according to the method, and reordering the unordered boundary points according to the order of the included angles from big to small.
Step 240, determining whether the distance between the new boundary and the old boundary is greater than a threshold, if not, terminating.
For example, the old and new boundaries are resampled, as shown in FIG. 7. Resampling the same points, calculating the distances between the corresponding sampling points, and if all the distances are smaller than a preset threshold value, considering that the boundary is unchanged and not updated; if the distance is greater than the preset threshold value, the boundary is determined to be changed, and the boundary is updated. Wherein the preset threshold value is an empirical value, typically the tire width, in this case a preset threshold value dis max Fixed at 0.3m, for example, in FIG. 7, a point 4 on the old boundary has coordinates (x 4 ,y 4 ) The coordinates of the corresponding point 4 'on the new boundary are (x' 4 ,y' 4 ) The distance dis between the point 4 and the point 4 4 The method comprises the following steps:
the value is greater than a predetermined value, so that the segment boundaries need to be updated.
Step 250, replace the old boundary data with the new boundary data.
In this embodiment, the position of the update boundary in the database is confirmed, and the identified new boundary is entirely replaced in the database, thereby realizing the function of map update.
The old boundary point closest to the first new boundary point is searched in the database as a starting point, the points of the area are sequentially traversed, and the old boundary point closest to the last new boundary point is searched as an end point. The boundary position that needs to be updated is determined using the start point and the end point. And finally, deleting the data between the starting point and the end point, inserting the data of the new boundary point from the starting point, refreshing the ID of the boundary point of the database, and finishing the updating of the boundary of the map.
The boundary update of all the areas is realized according to the above steps, and fig. 8, 9, 10 and 11 show the boundary update process, wherein fig. 8, 9 and 10 respectively show new and old boundaries at three samples, wherein the dotted line represents the vehicle driving track, and the outer solid line is the new road boundary identified by the vehicle. Fig. 9, 10 and 11 show road boundary situations after the new boundary replaces the old boundary, respectively.
According to the method provided by the embodiment of the invention, the boundary identification data is reported in real time by the vehicle in operation, so that the map boundary data is updated, the cost of map updating is reduced, and the high efficiency, accuracy and instantaneity of map updating are improved.
Based on the same technical concept as the above method embodiment, the present invention further provides a map updating apparatus, which is configured to implement each step in the above embodiment and the preferred implementation and example thereof, as shown in fig. 12, and includes:
the recognition module 10 is used for recognizing road boundaries through a laser radar at each sampling moment;
the sorting module 20 is configured to reorder the boundary points identified by the lidar to obtain new boundary point data ordered along the driving direction;
a judging module 30, configured to judge whether a distance between the new boundary and the old boundary is greater than a threshold according to the new boundary point data and the pre-stored old boundary data;
and an updating module 40, configured to replace old boundary data with the new boundary data when the judgment result of the judging module is greater than the threshold value.
Preferably, the sorting module 20 is configured to:
and taking the vehicle position at the previous sampling moment as the coordinate origin, acquiring the included angle between the connecting line of each new boundary point and the coordinate origin and the abscissa axis, and sorting the included angles from large to small to obtain the new boundary point data orderly along the driving direction.
Preferably, the sorting module 20 is configured to:
and determining a connecting line of the vehicle position at the last sampling moment and the vehicle position at the current moment, and rotating the connecting line anticlockwise by 90 degrees to be an x-axis and rotating the connecting line by 180 degrees to be a y-axis.
Preferably, the judging module 30 is configured to resample the same number of points for the old boundary data and the new boundary point data, calculate a distance between the corresponding sampling points, and judge whether the distance is greater than the threshold; the update module 40 is configured to: if all distances are smaller than the threshold, the boundary is not updated, and if the distances are larger than the threshold, the old boundary data is replaced by the new boundary data.
Preferably, the threshold value is the tire width.
Preferably, the updating module 40 is configured to:
searching an old boundary point closest to a first new boundary point in a database as a starting point, traversing the old boundary points sequentially, determining the old boundary point closest to a last new boundary point as an end point, and determining the position of the old boundary to be updated according to the starting point and the end point;
deleting the data between the starting point and the end point, inserting the new boundary point data from the starting point, refreshing the boundary point of the database, and finishing the updating of the map boundary.
Preferably, the updating module 40 is configured to:
a map uploading request is sent through a vehicle-mounted client;
receiving address information sent by a tracking server of a distributed file system;
uploading the new boundary point data to a storage server according to the address information;
and receiving the path information and the file name returned by the storage server, and storing the path information and the file name to finish map updating.
According to the device provided by the embodiment of the invention, the boundary identification data is reported in real time by the vehicle in operation, so that the map boundary data is updated, the cost of map updating is reduced, and the high efficiency, accuracy and instantaneity of map updating are improved.
Finally, it should be pointed out that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Those of ordinary skill in the art will appreciate that: the technical schemes described in the foregoing embodiments may be modified or some of the technical features may be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A method of map updating, comprising:
step 1, a vehicle carries out road boundary identification through a laser radar at each sampling moment;
step 2, the vehicle reorders the boundary points identified by the laser radar to obtain new boundary point data orderly along the driving direction;
step 3, the vehicle judges whether the distance between the new boundary and the old boundary is larger than a threshold value according to the new boundary point data and the pre-stored old boundary data, and if so, the new boundary point data is used for replacing the old boundary data;
wherein the reordering comprises:
taking the vehicle position at the previous sampling moment as the origin of coordinates, acquiring the included angle between the connecting line of each new boundary point and the origin of coordinates and the abscissa axis, and sorting the included angles from large to small to obtain the new boundary point data orderly along the driving direction;
wherein the reordering further comprises:
and determining a connecting line of the vehicle position at the last sampling moment and the vehicle position at the current moment, and rotating the connecting line anticlockwise by 90 degrees to be an x-axis and rotating the connecting line by 180 degrees to be a y-axis.
2. The method of claim 1, wherein step 3 comprises:
and resampling the same points of the old boundary data and the new boundary point data, calculating the distance between the corresponding sampling points, if all the distances are smaller than the threshold value, not updating the boundary, and if the distances are larger than the threshold value, replacing the old boundary data by using the new boundary point data.
3. The method of claim 1, wherein the threshold value is a tire width.
4. The method of claim 1, wherein replacing old boundary data with the new boundary point data comprises:
searching an old boundary point closest to a first new boundary point in a database as a starting point, traversing the old boundary points sequentially, determining the old boundary point closest to a last new boundary point as an end point, and determining the position of the old boundary to be updated according to the starting point and the end point;
deleting the data between the starting point and the end point, inserting the new boundary point data from the starting point, refreshing the boundary point of the database, and finishing the updating of the map boundary.
5. The method of claim 1 or 4, wherein replacing old boundary data with the new boundary point data comprises:
a map uploading request is sent through a vehicle-mounted client;
receiving address information sent by a tracking server of a distributed file system;
uploading the new boundary point data to a storage server according to the address information;
and receiving the path information and the file name returned by the storage server, and storing the path information and the file name to finish map updating.
6. An apparatus for updating a map, comprising:
the identification module is used for carrying out road boundary identification through a laser radar at each sampling moment;
the sequencing module is used for reordering the boundary points identified by the laser radar to obtain new boundary point data orderly along the driving direction;
the judging module is used for judging whether the distance between the new boundary and the old boundary is larger than a threshold value according to the new boundary point data and the pre-stored old boundary data;
the updating module is used for replacing old boundary data by using the new boundary data when the judging result of the judging module is larger than a threshold value;
wherein, the sequencing module is used for:
taking the vehicle position at the previous sampling moment as the origin of coordinates, acquiring the included angle between the connecting line of each new boundary point and the origin of coordinates and the abscissa axis, and sorting the included angles from large to small to obtain the new boundary point data orderly along the driving direction;
wherein, the sequencing module is used for:
and determining a connecting line of the vehicle position at the last sampling moment and the vehicle position at the current moment, and rotating the connecting line anticlockwise by 90 degrees to be an x-axis and rotating the connecting line by 180 degrees to be a y-axis.
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