CN113670296A - Environment map generation method and device based on ultrasonic waves - Google Patents

Environment map generation method and device based on ultrasonic waves Download PDF

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CN113670296A
CN113670296A CN202110946715.6A CN202110946715A CN113670296A CN 113670296 A CN113670296 A CN 113670296A CN 202110946715 A CN202110946715 A CN 202110946715A CN 113670296 A CN113670296 A CN 113670296A
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ultrasonic measurement
measurement value
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CN113670296B (en
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盛愈欢
樊晓谦
刘祥
万国强
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Beijing Jingwei Hirain Tech Co Ltd
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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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The invention discloses an environment map generation method and device based on ultrasonic waves, wherein the method comprises the following steps: judging whether a plurality of ultrasonic measurement values have conflict or not; when collision exists, at least two ultrasonic measurement values with collision form a collision sequence, and the confidence coefficient of each ultrasonic measurement value in the collision sequence is initialized; updating the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value, and obtaining the target confidence coefficient of the current ultrasonic measurement value; removing the ultrasonic measurement value with the minimum target confidence coefficient in the conflict sequence; circularly executing the above processes until a target ultrasonic measurement value is obtained when there is no conflict in the remaining ultrasonic measurement values; and updating the historical environment map according to the pose information at the last moment of the vehicle, the current pose information determined by the current running state of the vehicle and the target ultrasonic measurement value.

Description

Environment map generation method and device based on ultrasonic waves
Technical Field
The invention relates to the technical field of automatic driving, in particular to an environment map generation method and device based on ultrasonic waves.
Background
The technology relies on the cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to allow computers to operate motor vehicles automatically and safely without any human active operation. The path planning technology is one of core technologies of an automatic driving vehicle, and if a better path is planned, obstacle information around the vehicle needs to be judged by combining an environment map.
In the related art, technologies used for creating an environment map mainly include an ultrasonic technology, a visual sensor technology, and a laser radar technology. Since the vision sensor technology and the laser radar technology require high costs, the ultrasonic technology is widely used at present. Specifically, at least one ultrasonic sensor may be mounted on the vehicle, obstacles around the vehicle may be detected using the ultrasonic sensor, and the environment map may be created or updated according to the obstacle detection result. However, interference may exist between ultrasonic signals measured by the same ultrasonic sensor for a plurality of times or between ultrasonic signals measured by different ultrasonic sensors, which may result in a low accuracy of the generated environment map.
Disclosure of Invention
The invention provides an environment map generation method and device based on ultrasonic waves, and aims to improve the accuracy of an environment map. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides an environment map generation method based on ultrasonic waves, where the method includes:
judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the ultrasonic measurement values in the grid map;
when the plurality of ultrasonic measurement values have conflict, at least two ultrasonic measurement values with conflict form a conflict sequence, and the confidence degree of each ultrasonic measurement value in the conflict sequence is initialized, wherein each ultrasonic measurement value in the conflict sequence has conflict with at least one other ultrasonic measurement value in the conflict sequence;
updating the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value, so as to obtain the target confidence coefficient of the current ultrasonic measurement value;
removing the ultrasonic measurement value with the minimum target confidence coefficient in the conflict sequence, returning to the execution step, judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement results represented by the ultrasonic measurement values in the grid map, and determining the current residual ultrasonic measurement value as the target ultrasonic measurement value until the current residual ultrasonic measurement value does not conflict;
and updating the historical environment map according to the pose information at the last moment of the vehicle, the current pose information determined by the current running state of the vehicle and the target ultrasonic measurement value.
Optionally, updating the confidence of the current ultrasonic measurement value according to the initialization confidence of the current ultrasonic measurement value in the collision sequence and the initialization confidence of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value, to obtain the target confidence of the current ultrasonic measurement value, includes:
iteratively updating the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value;
and when the difference between the confidence degrees of each ultrasonic measured value after the last two iterations in the conflict sequence is smaller than a preset difference threshold, determining the confidence degree of the current ultrasonic measured value after the last iteration is updated as the target confidence degree.
Optionally, iteratively updating the confidence level of the current ultrasonic measurement value according to the initialization confidence level of the current ultrasonic measurement value in the collision sequence and the initialization confidence level of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value, includes:
substituting the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value into an iterative formula, and iteratively updating the confidence coefficient of the current ultrasonic measurement value;
the iterative formula is: pk+1(i)＝(1-Πj∈SPk(j))+(Πj∈SPk(j))Pk(i)，
Wherein i represents the ith ultrasonic measurement value in the collision sequence, S represents the ultrasonic measurement value set which collides with the ith ultrasonic measurement value in the collision sequence, j represents the jth ultrasonic measurement value in the ultrasonic measurement value set, P represents the confidence coefficient, the confidence coefficient when k is 1 is the initialization confidence coefficient, and k is added with 1 every iteration.
Optionally, determining the current pose information according to the pose information of the vehicle at the previous moment and the current running state of the vehicle, including:
acquiring the pose information of the previous moment, the current steering wheel corner of the vehicle, the displacement of a left driven wheel at the current moment relative to the previous moment, the displacement of a right driven wheel at the current moment relative to the previous moment, the wheelbases of a front wheel and a rear wheel, and the corner ratio of the front wheel and the steering wheel at the current moment;
and determining the current pose information according to the pose information at the last moment, the current steering wheel corner, the left driven wheel displacement, the right driven wheel displacement, the front and rear wheel wheelbases and the corner ratio.
Optionally, determining the current pose information according to the pose information at the previous time, the current steering wheel angle, the left driven wheel displacement, the right driven wheel displacement, the front-rear wheel wheelbase, and the angle ratio includes:
calculating the current pose information by the following formula:
Figure BDA0003216999310000031
Figure BDA0003216999310000032
Figure BDA0003216999310000033
wherein the content of the first and second substances,
Figure BDA0003216999310000034
the current pose information is represented by the current pose information,
Figure BDA0003216999310000035
representing the pose information of the previous time,
x represents the abscissa of the midpoint of the connecting line of the midpoints of the two rear wheels, y represents the ordinate of the midpoint of the connecting line of the midpoints of the two rear wheels, theta represents the course angle of the vehicle, deltas represents the equivalent driven shaft speed, deltatheta represents the course angle variation, and deltaW represents the distance between the two rear wheelsclRepresenting the left driven wheel displacement, AW, of the current time relative to the previous timecrRepresenting the right driven wheel displacement, s, of the current time relative to the previous timeWIndicating the current steering wheel angle iSRepresents the turning angle ratio, WBRepresenting the front and rear wheel base.
Optionally, determining whether a conflict exists between the multiple ultrasonic measurement values according to the measurement result of the obstacle represented by the multiple ultrasonic measurement values in the grid map includes:
judging whether two ultrasonic measurement values in the plurality of ultrasonic measurement values have preset conflicts in the grid map to determine an overlapping area;
if the preset conflict determination overlap area exists, judging whether the two ultrasonic measurement values have the same obstacle measurement result in the overlap area for the preset conflict determination;
and if not, determining that the two ultrasonic measurement values conflict.
Optionally, updating the historical environment map according to the pose information at the last moment of the vehicle, the current pose information determined by the current running state of the vehicle, and the target ultrasonic measurement value, includes:
for the same grid to be updated in the historical environment map, if all target ultrasonic measured values covering the grid to be updated determine that an obstacle exists at the grid to be updated, marking the grid to be updated as the obstacle;
if all the target ultrasonic measurement values covering the grid to be updated do not determine that an obstacle exists at the grid to be updated, marking the grid to be updated as the obstacle does not exist;
wherein the grid to be updated comprises a grid covered by the target ultrasonic measurement value in a grid which is not detected by the obstacle in the historical environment map;
and updating the pose of the vehicle in the historical environment map according to the current pose information.
Optionally, the updating the historical environment map according to the pose information at the last moment of the vehicle, the current pose information determined by the current running state of the vehicle, and the target ultrasonic measurement value, further includes:
according to the current pose information, expanding the edge area in front of the vehicle in the historical environment map, and deleting the edge area behind the vehicle, so that the size of the updated historical environment map is unchanged.
Optionally, the method further includes:
and storing each grid in the updated historical environment map in a three-value form, wherein the three values comprise obstacles, no obstacles and no ultrasonic detection.
In a second aspect, an embodiment of the present invention provides an ultrasound-based environment map generating apparatus, where the apparatus includes:
the judging unit is used for judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the ultrasonic measurement values in the grid map;
a generating unit, configured to, when there is a collision among the plurality of ultrasonic measurement values, configure at least two ultrasonic measurement values with a collision into a collision sequence, where each ultrasonic measurement value in the collision sequence collides with at least one other ultrasonic measurement value in the collision sequence;
the initialization unit is used for initializing the confidence of each ultrasonic measurement value in the collision sequence;
a confidence coefficient updating unit, configured to update the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the collision sequence and the initialization confidence coefficient of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value, so as to obtain a target confidence coefficient of the current ultrasonic measurement value;
the removing unit is used for removing the ultrasonic measurement value with the minimum target confidence coefficient in the conflict sequence, and returning to the judging unit to execute the step to judge whether the plurality of ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the plurality of ultrasonic measurement values in the grid map;
a determining unit, configured to determine the currently remaining ultrasonic measurement value as a target ultrasonic measurement value when there is no conflict in the currently remaining ultrasonic measurement values;
and the map updating unit is used for updating the historical environment map according to the current pose information determined by the pose information at the last moment of the vehicle and the current running state of the vehicle and the target ultrasonic measurement value.
Optionally, the confidence degree updating unit includes:
the iteration updating module is used for performing iteration updating on the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value;
and the confidence determining module is used for determining the confidence of the current ultrasonic measurement value after the latest iteration update as the target confidence when the difference between the confidence of each ultrasonic measurement value after the latest iteration update in the conflict sequence is smaller than a preset difference threshold.
Optionally, the iterative update module is configured to substitute the initialization confidence of the current ultrasonic measurement value in the collision sequence and the initialization confidence of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value into an iterative formula, and iteratively update the confidence of the current ultrasonic measurement value;
the iterative formula is: pk+1(i)＝(1-Πj∈SPk(j))+(Πj∈SPk(j))Pk(i)，
Wherein i represents the ith ultrasonic measurement value in the collision sequence, S represents the ultrasonic measurement value set which collides with the ith ultrasonic measurement value in the collision sequence, j represents the jth ultrasonic measurement value in the ultrasonic measurement value set, P represents the confidence coefficient, the confidence coefficient when k is 1 is the initialization confidence coefficient, and k is added with 1 every iteration.
Optionally, the apparatus further includes a pose determining unit, configured to determine current pose information from pose information of a previous time on the vehicle and a current operating state of the vehicle;
the pose determination unit includes:
the acquisition module is used for acquiring the pose information of the previous moment, the current steering wheel corner of the vehicle, the left driven wheel displacement of the current moment relative to the previous moment, the right driven wheel displacement of the current moment relative to the previous moment, the front and rear wheel wheelbases and the corner ratio of the front wheel and the steering wheel at the current moment;
and the pose determining module is used for determining the current pose information according to the pose information at the last moment, the current steering wheel corner, the left driven wheel displacement, the right driven wheel displacement, the front and rear wheel wheelbases and the corner ratio.
Optionally, the pose determining module is configured to calculate the current pose information according to the following formula:
Figure BDA0003216999310000051
Figure BDA0003216999310000052
Figure BDA0003216999310000053
wherein the content of the first and second substances,
Figure BDA0003216999310000054
the current pose information is represented by the current pose information,
Figure BDA0003216999310000055
representing the pose information of the previous time,
x represents the abscissa of the midpoint of the connecting line of the midpoints of the two rear wheels, y represents the ordinate of the midpoint of the connecting line of the midpoints of the two rear wheels, theta represents the course angle of the vehicle, deltas represents the equivalent driven shaft speed, deltatheta represents the course angle variation, and deltaW represents the distance between the two rear wheelsclRepresenting the left driven wheel displacement, AW, of the current time relative to the previous timecrRepresenting the right driven wheel displacement, s, of the current time relative to the previous timeWIndicating the current steering wheel angle iSRepresents the turning angle ratio, WBRepresenting the front and rear wheel base.
Optionally, the determining unit includes:
the first judgment module is used for judging whether two ultrasonic measurement values in the plurality of ultrasonic measurement values have preset conflicts in the grid map to determine an overlapping area;
the second judgment module is used for judging whether the two ultrasonic measurement values have the same obstacle measurement result in the preset conflict determination overlapping area or not if the preset conflict determination overlapping area exists;
and the conflict determination module is used for determining that the two ultrasonic measurement values have conflict if the two ultrasonic measurement values are different.
Optionally, the map updating unit includes:
the grid updating module is used for marking the grid to be updated as an obstacle if the obstacle exists at the grid to be updated according to all the target ultrasonic measured values covering the grid to be updated; if all the target ultrasonic measurement values covering the grid to be updated do not determine that an obstacle exists at the grid to be updated, marking the grid to be updated as the obstacle does not exist; the grid to be updated comprises a grid covered by target ultrasonic measurement values in a grid which is not detected by an obstacle in the historical environment map;
and the pose updating module is used for updating the pose of the vehicle in the historical environment map according to the current pose information.
Optionally, the map updating unit further includes:
and the area adjusting module is used for expanding the edge area in front of the vehicle in the historical environment map and deleting the edge area behind the vehicle according to the current pose information so as to enable the size of the updated historical environment map to be unchanged.
Optionally, the apparatus further comprises:
and the storage unit is used for storing each grid in the updated historical environment map in a three-value form, wherein the three values comprise obstacles, no obstacles and no ultrasonic detection.
In a third aspect, an embodiment of the present invention provides a storage medium having stored thereon executable instructions, which when executed by a processor, cause the processor to implement the method of the first aspect.
In a fourth aspect, an embodiment of the present invention provides an autonomous vehicle, including:
one or more processors;
a storage device for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of the first aspect.
As can be seen from the above, the method and apparatus for generating an environment map based on ultrasonic waves according to the embodiments of the present invention can determine whether a plurality of ultrasonic measurement values conflict with each other or not, when a conflict exists, remove an invalid (i.e., low confidence) ultrasonic measurement value by using the confidence of the ultrasonic measurement value that conflicts with each other, to obtain a valid ultrasonic measurement value (i.e., a target ultrasonic measurement value) that does not conflict with each other, and finally update the history environment map by using the valid ultrasonic measurement value and the current pose information of the vehicle, so as to avoid the accuracy of the environment map from being affected by the interference of the plurality of ultrasonic signals. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
The technical effects of the embodiment of the invention are as follows:
1. by evaluating the confidence of the ultrasonic measurement values with conflicts and removing the ultrasonic measurement value with the minimum confidence until the effective ultrasonic measurement value without conflicts is obtained, the historical environment map is updated according to the effective ultrasonic measurement value and the current pose information of the vehicle, so that the problem of low accuracy of the generated environment map caused by the interference of a plurality of ultrasonic signals is solved, and the accuracy of the environment map is improved.
2. When the confidence of the ultrasonic measurement values is evaluated, each ultrasonic measurement value in the conflict sequence may be initialized, and then the confidence of the current ultrasonic measurement value is iteratively updated according to the initialization confidence of the current ultrasonic measurement value, the initialization confidence of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value, and the iterative formula, until the confidence change amount of each ultrasonic measurement value in the conflict sequence is smaller than the preset difference threshold, iteration converges, and the final confidence of each ultrasonic measurement value is obtained.
3. When the current pose information of the vehicle is calculated, the current pose information of the vehicle can be accurately calculated according to the pose information of the vehicle at the moment and the running state of the vehicle (including the current steering wheel angle, the left driven wheel displacement, the right driven wheel displacement, the front and rear wheel wheelbases and the steering angle ratio).
4. When the historical environment map is updated, the current grid is marked as the obstacle only when the obstacle existing at the current grid is determined by all the target ultrasonic measured values covering the current grid and the obstacle existing at the current grid is not determined in the historical environment map, so that the accuracy of marking the obstacle is ensured, and the accuracy of updating the historical environment map is improved.
5. When the historical environment map is updated, in order to reduce the memory occupation and ensure the feasibility of path planning according to the environment map, the size of the environment map can be kept within a preset range taking the vehicle as the center, when the vehicle runs forwards, the edge area in front of the vehicle in the environment map is expanded, and meanwhile, the edge area behind the vehicle is deleted, so that the size of the environment map is kept unchanged.
6. By storing each grid in the environment map in a three-value form, the data volume of the environment map can be reduced, thereby saving the storage space.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are merely exemplary of some embodiments of the invention. For a person skilled in the art, without inventive effort, further figures can be obtained from these figures.
Fig. 1 is a flowchart of an environment map generating method based on ultrasonic waves according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a grid map of ultrasonic measurements provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a grid map of another ultrasonic measurement provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating an ultrasonic measurement overlap relationship according to an embodiment of the present invention;
fig. 5 is an expanded schematic view of an environment map according to an embodiment of the present invention;
fig. 6 is a block diagram of an environment map generating apparatus based on ultrasonic waves according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The invention provides an environment map generation method and device based on ultrasonic waves, which can obtain effective ultrasonic wave measurement values without conflict by removing ultrasonic wave measurement values with low confidence coefficient, and update a historical environment map by the effective ultrasonic wave measurement values, thereby improving the accuracy of generating the environment map. The method provided by the embodiment of the invention can be applied to any electronic equipment with computing capability, and the electronic equipment can be a terminal or a server. In one implementation, the functional software implementing the method may exist in the form of separate client software, or may exist in the form of a plug-in to currently associated client software.
The following provides a detailed description of embodiments of the invention.
Fig. 1 is a schematic flowchart of an environment map generating method based on ultrasonic waves according to an embodiment of the present invention. The method may comprise the steps of:
s100: judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the ultrasonic measurement values in the grid map; if yes, go to step S110; if there is no conflict, step S140 is executed.
The ultrasonic sensor mounted on the vehicle can detect the obstacles in real time or periodically, and after the ultrasonic measurement signal is obtained, the ultrasonic measurement signal can be analyzed, and the measurement result of whether the obstacles are contained or not can be drawn on the grid map. As shown in fig. 2, there are 2 ultrasonic measurement values, and based on the principle of ultrasonic measurement, the area covered by one ultrasonic measurement value is a sector area, the sector ring in the area is the measurement target, if an obstacle exists in one of the sectors, the sector ring can be represented by distinguishing it from other sectors, for example, the sector with the obstacle can be represented by black, the sector without the obstacle can be represented by white (the other area detected by the ultrasonic measurement value 1 in fig. 2), and the area not covered by the ultrasonic measurement value can be represented by gray.
After obtaining the plurality of ultrasonic measurement values, for any two ultrasonic measurement values in the plurality of ultrasonic measurement values, firstly, judging whether a preset conflict exists between the two ultrasonic measurement values in the grid map to determine an overlapping area; if the preset conflict determination overlap area exists, judging whether the two ultrasonic measurement values have the same obstacle measurement result in the overlap area for the preset conflict determination; if not, determining that the two ultrasonic measurement values conflict; and if the preset conflict determination overlapping area does not exist, or the preset conflict determination overlapping area exists, and the two ultrasonic measurement values have the same obstacle measurement result in the overlapping area determined by aiming at the preset conflict, determining that the two ultrasonic measurement values do not have conflict. The preset conflict determination overlap area is a preset overlap area which needs to be judged whether a conflict exists, the specific shape of the preset conflict determination overlap area can be a sector ring shape, can be other shapes, and can be specifically set according to factors such as a shape defined by ultrasonic detection, precision requirements and the like, and the preset conflict determination overlap area is not limited by the embodiment of the disclosure. For example, the preset collision determination overlap region includes an overlapped fan-shaped annular region, which may be a fan-shaped annular region as shown in fig. 2, and if there is only a partial region overlap of a certain fan-shaped annular region in two ultrasonic measurement values, the overlap region is not the preset collision determination overlap region of the embodiment of the present invention, so that there is no collision in this case.
For example, as shown in fig. 2, a dashed line region is a preset collision determination overlap region of the ultrasonic measurement values 1 and 2, each grid in the dashed line region is traversed, whether the two ultrasonic measurement values are the same as the measurement result of the grid is determined, and finally, the determination result is that all grids in the dashed line region are determined to be free of obstacles in the ultrasonic measurement value 1, and the ultrasonic measurement value 2 considers that at least one obstacle exists in the region, and there is necessarily at least one measurement error in the two measurements, which defines that the ultrasonic measurement values 1 and 2 have a collision. On the other hand, in fig. 3, the ultrasonic measurement value 3 in the area of the broken line (the upper sector in the figure is the ultrasonic measurement value 3) is only a sector annular area partially covering the ultrasonic measurement value 4 (the lower sector in the figure is the ultrasonic measurement value 3), and therefore it is determined that there is no collision between the ultrasonic measurement values 3 and 4.
In the embodiment of the present invention, there may be one or more ultrasonic sensors. When the number of the ultrasonic sensors is one, the plurality of ultrasonic measurement values are measurement values of the ultrasonic sensors at different moments; when there are a plurality of ultrasonic sensors, the ultrasonic measurement values include measurement values of the same ultrasonic sensor at different times and/or measurement values of different ultrasonic sensors at the same time. When the ultrasonic sensors are installed at different positions, the ultrasonic measurement values at different moments and different positions can be used for generating an environment map, so that errors and blind areas existing in single measurement are eliminated, and the whole scheme does not need to additionally depend on positioning equipment. For each ultrasonic measurement value obtained by the current ultrasonic measurement technology, the coverage range can be a sector range, so that whether an obstacle exists on the measurement distance corresponding to the sector range can be only known, but the size of the obstacle is specifically large, and where the position of finer granularity is, the position can be further determined by other non-conflicting ultrasonic measurement values.
In addition, the embodiment of the invention can project all ultrasonic measurement values on the same grid map, is insensitive to the change of the number and the position arrangement of the ultrasonic sensors, and can be suitable for different vehicle types.
S110: at least two ultrasonic measurement values with conflict form a conflict sequence, and the confidence of each ultrasonic measurement value in the conflict sequence is initialized.
After a collision determination is made for any two ultrasonic measurement values of the plurality of ultrasonic measurement values, the at least two ultrasonic measurement values in which a collision exists may be formed into a collision sequence, and each ultrasonic measurement value in the collision sequence may collide with at least one other ultrasonic measurement value in the collision sequence, without having to make any two ultrasonic measurement values in the collision sequence collide. Furthermore, there may be one collision sequence or a plurality of collision sequences for a plurality of ultrasonic measurement values. For example, if the ultrasonic measurement value 1 collides with the ultrasonic measurement value 2, the ultrasonic measurement value 2 collides with the ultrasonic measurement values 1 and 3, and the ultrasonic measurement value 4 collides with the ultrasonic measurement values 5 and 6, respectively, the ultrasonic measurement values 1 to 3 may be made into the collision series 1, and the ultrasonic measurement values 4 to 6 may be made into the collision series 2.
After obtaining at least one collision sequence, the confidence level of each ultrasonic measurement value in each collision sequence may be initialized, and the initialized confidence level of each ultrasonic measurement value may be obtained, so as to subsequently update the confidence level of each ultrasonic measurement value for each collision sequence. The confidence of each ultrasonic measurement value may be uniformly initialized to a single value, for example, 0.5, or 0.4, 0.6, or 0.55. If the detection result is known a priori, the initialization confidence can be adjusted appropriately, for example, if the ultrasonic sensor is known to be inaccurate when the detection distance is far away in advance, the initialization confidence of the measurement value of the ultrasonic sensor can be lower than that of other measurement values.
S120: and updating the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value, so as to obtain the target confidence coefficient of the current ultrasonic measurement value.
Specifically, the confidence of the current ultrasonic measurement value may be iteratively updated according to the initialization confidence of the current ultrasonic measurement value in the collision sequence and the initialization confidence of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value; and when the difference between the confidence degrees of each ultrasonic measured value after the last two iterations in the conflict sequence is smaller than a preset difference threshold, determining the confidence degree of the current ultrasonic measured value after the last iteration is updated as the target confidence degree.
The iterative update process specifically includes: substituting the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value into an iterative formula, and iteratively updating the confidence coefficient of the current ultrasonic measurement value; the iterative formula is: pk+1(i)＝(1-Πj∈ SPk(j))+(Πj∈SPk(j))Pk(i)；
Wherein i represents the ith ultrasonic measurement value in the collision sequence, S represents the ultrasonic measurement value set which collides with the ith ultrasonic measurement value in the collision sequence, which may be referred to as an S sequence, j represents the jth ultrasonic measurement value in the ultrasonic measurement value set, P represents a confidence level, the confidence level when k is 1 is an initialization confidence level, and k is added with 1 every iteration.
Illustratively, as shown in fig. 4, a collision sequence includes three ultrasonic measurement values, where an ultrasonic measurement value 1 collides with an ultrasonic measurement value 2, an ultrasonic measurement value 2 collides with both ultrasonic measurement values 1 and 3, and an ultrasonic measurement value 3 collides with an ultrasonic measurement value 1, then when the confidence of the ultrasonic measurement value 1 is iteratively calculated, the corresponding S sequence is {2}, when the confidence of the ultrasonic measurement value 2 is iteratively calculated, the corresponding S sequence is {1, 3}, and when the confidence of the ultrasonic measurement value 3 is iteratively calculated, the corresponding S sequence is {2 }. The initialization confidences of the ultrasonic measurement values 1, 2 and 3 are respectively P1(1)、P1(2)、P1(3)。
When k is 1:
confidence P of ultrasonic measured value 12(1)＝(1-P1(2))+P1(2)P1(1)；
Confidence P of ultrasonic measured value 22(2)＝(1-P1(1)P1(3))+P1(1)P1(3)P1(2)；
Confidence P of ultrasonic measured value 32(3)＝(1-P1(2))+P1(2)P1(3)。
When k is 2:
confidence P of ultrasonic measured value 13(1)＝(1-P2(2))+P2(2)P2(1)；
Confidence P of ultrasonic measured value 23(2)＝(1-P2(1)P2(3))+P2(1)P2(3)P2(2)；
Confidence P of ultrasonic measured value 33(3)＝(1-P2(2))+P2(2)P2(3)。
When k is 3:
confidence P of ultrasonic measured value 14(1)＝(1-P3(2))+P3(2)P3(1)；
Confidence P of ultrasonic measured value 24(2)＝(1-P3(1)P3(3))+P3(1)P3(3)P3(2)；
Confidence P of ultrasonic measured value 34(3)＝(1-P3(2))+P3(2)P3(3)。
If P4(1)-P3(1)、P4(2)-P3(2)、P4(3)-P3(3) Are all less than the preset difference threshold, it can be determined that the iteration reaches convergence, and P can be calculated4(1)、P4(2)、P4(3) As the target confidence.
S130: and removing the ultrasonic wave measurement value with the minimum target confidence in the collision sequence. The process returns to step S100.
Since the smaller the confidence, the larger the error of the ultrasonic measurement value, the ultrasonic measurement value with the smallest target confidence in the collision sequence may be removed, the other ultrasonic measurement values remaining in the collision sequence and the ultrasonic measurement values not listed in the collision sequence may be regarded as the current remaining ultrasonic measurement values, and the steps S100 to S130 are continuously performed until the current remaining ultrasonic measurement values are determined as the target ultrasonic measurement value when there is no collision.
S140: the currently remaining ultrasonic measurement value is determined as a target ultrasonic measurement value.
S150: and updating the historical environment map according to the pose information at the last moment of the vehicle, the current pose information determined by the current running state of the vehicle and the target ultrasonic measurement value.
The current running state of the vehicle can be described by parameters such as the current steering wheel turning angle of the vehicle, the displacement of a left driven wheel at the current moment relative to the previous moment, the displacement of a right driven wheel at the current moment relative to the previous moment, the wheelbase of the front wheel and the rear wheel, and the turning angle ratio of the front wheel and the steering wheel at the current moment. Pose information includes the geographic position and pose (also referred to as pose orientation) of the vehicle. Because the vehicle is large in size, in practical application, a certain point on the vehicle can be taken to represent the geographic position of the vehicle, for example, the midpoint of a connecting line between the midpoints of two rear wheels can be taken as the geographic position of the vehicle; similarly, because the vehicle is large in size, in practical application, for the same geographical position, the directions of the vehicle heads are different, the postures of the vehicles are different, and the heading angle can be used for representing the postures of the vehicles in specific implementation. Therefore, the method for determining the current pose information specifically may be: acquiring the pose information of the previous moment, the current steering wheel corner of the vehicle, the displacement of a left driven wheel at the current moment relative to the previous moment, the displacement of a right driven wheel at the current moment relative to the previous moment, the wheelbases of a front wheel and a rear wheel, and the corner ratio of the front wheel and the steering wheel at the current moment; and determining the current pose information according to the pose information at the last moment, the current steering wheel corner, the left driven wheel displacement, the right driven wheel displacement, the front and rear wheel wheelbases and the corner ratio.
Calculating the current pose information by the following formula:
Figure BDA0003216999310000121
Figure BDA0003216999310000122
Figure BDA0003216999310000123
wherein the content of the first and second substances,
Figure BDA0003216999310000124
the current pose information is represented by the current pose information,
Figure BDA0003216999310000125
representing the pose information of the previous time,
x represents the abscissa of the midpoint of the connecting line of the midpoints of the two rear wheels, y represents the ordinate of the midpoint of the connecting line of the midpoints of the two rear wheels, theta represents the course angle of the vehicle, deltas represents the equivalent driven shaft speed, deltatheta represents the course angle variation, and deltaW represents the distance between the two rear wheelsclRepresenting a left slave of the current time relative to the previous timeRunning wheel displacement, Δ WcrRepresenting the right driven wheel displacement, s, of the current time relative to the previous timeWIndicating the current steering wheel angle iSRepresents the turning angle ratio, WBRepresenting the front and rear wheel base. The front and rear wheel base is the distance from the center of the front wheel shaft to the center of the rear wheel shaft on the same side when the vehicle is in an initial state (i.e. no wheel turns, etc.).
After obtaining the current pose information of the vehicle and the ultrasonic measurement value of the target, traversing each grid in the historical environment map, and if the currently traversed grid is a grid (such as the area represented by S3-1 in FIG. 3) which has already been detected by an obstacle in the historical environment map, or a grid (such as the area represented by S3-3 in FIG. 3) which is not detected by the ultrasonic measurement value of the target obtained this time, keeping the original information; otherwise, for the same grid to be updated, if all the target ultrasonic measurement values covering the grid to be updated determine that an obstacle (such as the area represented in S3-2 in fig. 3) exists at the grid to be updated and it is not determined that no obstacle exists at the grid to be updated in the historical environment map, marking the grid to be updated as an obstacle exists; if all target ultrasonic measurements covering the grid to be updated do not determine that an obstacle (such as the area represented by S3-4 in FIG. 3) exists at the grid to be updated, marking the grid to be updated as not having the obstacle; the grid to be updated includes a grid covered by the target ultrasonic measurement values in the grid of the historical environment map that has not been detected by the obstacle. In addition, the pose of the vehicle needs to be updated in the historical environment map according to the current pose information.
In one embodiment, when updating the historical environment map, in order to reduce the memory usage and ensure the feasibility of path planning according to the environment map, the size of the environment map may be maintained within a preset range centered on the vehicle, and when the vehicle travels forward, the edge area in front of the vehicle in the environment map is expanded, and the edge area behind the vehicle is deleted, so that the size of the environment map is maintained. For example, as shown in fig. 5, when the vehicle travels forward by one grid, the right edge of the historical environment map may be expanded by one grid, and the left edge may be deleted by one grid, so that the size of the environment map remains the same.
In one embodiment, in order to save storage space, the data amount of the environment map may be reduced by storing each grid in the updated historical environment map in a ternary form. The three values include the presence of an obstacle, the absence of an obstacle, and the absence of ultrasonic detection. For example, if there are 16 grids in the environment map, and the presence, absence, and absence of the ultrasonic detection are represented by 0, 1, and 2, respectively, the environment map may be represented by a matrix.
Such as a matrix of
Figure BDA0003216999310000131
According to the method for generating the environment map based on the ultrasonic waves, provided by the embodiment of the invention, after a plurality of ultrasonic wave measurement values are obtained, the historical environment map is not directly updated according to the plurality of ultrasonic wave measurement values, whether the plurality of ultrasonic wave measurement values conflict or not is judged firstly, when the plurality of ultrasonic wave measurement values conflict, the invalid (namely low-confidence) ultrasonic wave measurement values are removed by using the confidence of the conflicting ultrasonic wave measurement values, so that the valid ultrasonic wave measurement values (namely target ultrasonic wave measurement values) which do not conflict with each other are obtained, and finally, the historical environment map is updated by using the valid ultrasonic wave measurement values and the current pose information of the vehicle, so that the influence on the accuracy of the environment map due to the interference of the plurality of ultrasonic wave signals is avoided.
Corresponding to the above method embodiment, an embodiment of the present invention provides an environment map generating apparatus based on ultrasonic waves, and as shown in fig. 6, the apparatus may include:
a judging unit 60, configured to judge whether there is a conflict between a plurality of ultrasonic measurement values according to an obstacle measurement result represented by the plurality of ultrasonic measurement values in the grid map;
a generating unit 62, configured to, when there is a collision among the plurality of ultrasonic measurement values, configure at least two ultrasonic measurement values with a collision into a collision sequence, where each ultrasonic measurement value in the collision sequence collides with at least one other ultrasonic measurement value in the collision sequence;
an initialization unit 64 for initializing the confidence of each ultrasonic measurement value in the collision sequence;
a confidence updating unit 66, configured to update the confidence of the current ultrasonic measurement value according to the initialization confidence of the current ultrasonic measurement value in the collision sequence and the initialization confidence of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value, so as to obtain a target confidence of the current ultrasonic measurement value;
a removing unit 68, configured to remove the ultrasonic measurement value with the minimum target confidence in the collision sequence; returning to the judging unit to execute the step of judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the ultrasonic measurement values in the grid map;
a determining unit 610, configured to determine the currently remaining ultrasonic measurement value as a target ultrasonic measurement value when there is no conflict in the currently remaining ultrasonic measurement values;
and a map updating unit 612, configured to update the historical environment map according to the current pose information determined by the pose information at the last time of the vehicle and the current running state of the vehicle, and the target ultrasonic measurement value.
Optionally, the confidence level updating unit 66 includes:
the iteration updating module is used for performing iteration updating on the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value;
and the confidence determining module is used for determining the confidence of the current ultrasonic measurement value after the latest iteration update as the target confidence when the difference between the confidence of each ultrasonic measurement value after the latest iteration update in the conflict sequence is smaller than a preset difference threshold.
Optionally, the iterative update module is configured to substitute the initialization confidence of the current ultrasonic measurement value in the collision sequence and the initialization confidence of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value into an iterative formula, and iteratively update the confidence of the current ultrasonic measurement value;
the iterative formula is: pk+1(i)＝(1-Πj∈SPk(j))+(Πj∈SPk(j))Pk(i)，
Wherein i represents the ith ultrasonic measurement value in the collision sequence, S represents the ultrasonic measurement value set which collides with the ith ultrasonic measurement value in the collision sequence, j represents the jth ultrasonic measurement value in the ultrasonic measurement value set, P represents the confidence coefficient, the confidence coefficient when k is 1 is the initialization confidence coefficient, and k is added with 1 every iteration.
Optionally, the apparatus further includes a pose determining unit, configured to determine current pose information from pose information of a previous time on the vehicle and a current operating state of the vehicle;
the pose determination unit includes:
the acquisition module is used for acquiring the pose information of the previous moment, the current steering wheel corner of the vehicle, the left driven wheel displacement of the current moment relative to the previous moment, the right driven wheel displacement of the current moment relative to the previous moment, the front and rear wheel wheelbases and the corner ratio of the front wheel and the steering wheel at the current moment;
and the pose determining module is used for determining the current pose information according to the pose information at the last moment, the current steering wheel corner, the left driven wheel displacement, the right driven wheel displacement, the front and rear wheel wheelbases and the corner ratio.
Optionally, the pose determining module is configured to calculate the current pose information according to the following formula:
Figure BDA0003216999310000151
Figure BDA0003216999310000152
Figure BDA0003216999310000153
wherein the content of the first and second substances,
Figure BDA0003216999310000154
the current pose information is represented by the current pose information,
Figure BDA0003216999310000155
representing the pose information of the previous time,
x represents the abscissa of the midpoint of the connecting line of the midpoints of the two rear wheels, y represents the ordinate of the midpoint of the connecting line of the midpoints of the two rear wheels, theta represents the course angle of the vehicle, deltas represents the equivalent driven shaft speed, deltatheta represents the course angle variation, and deltaW represents the distance between the two rear wheelsclRepresenting the left driven wheel displacement, AW, of the current time relative to the previous timecrRepresenting the right driven wheel displacement, s, of the current time relative to the previous timeWIndicating the current steering wheel angle iSRepresents the turning angle ratio, WBRepresenting the front and rear wheel base.
Optionally, the determining unit 60 includes:
the first judgment module is used for judging whether two ultrasonic measurement values in the plurality of ultrasonic measurement values have preset conflicts in the grid map to determine an overlapping area;
the second judgment module is used for judging whether the two ultrasonic measurement values have the same obstacle measurement result in the preset conflict determination overlapping area or not if the preset conflict determination overlapping area exists;
and the conflict determination module is used for determining that the two ultrasonic measurement values have conflict if the two ultrasonic measurement values are different.
Optionally, the map updating unit 612 includes:
the grid updating module is used for marking the grid to be updated as an obstacle if the obstacle exists at the grid to be updated as determined by all target ultrasonic measurement values covering the grid to be updated, and marking the grid to be updated as an obstacle if the obstacle does not exist at all the target ultrasonic measurement values covering the grid to be updated, wherein the grid to be updated comprises grids covered by the target ultrasonic measurement values in the grids which are not detected by the obstacle in the historical environment map;
and the pose updating module is used for updating the pose of the vehicle in the historical environment map according to the current pose information.
Optionally, the map updating unit 612 further includes:
and the area adjusting module is used for expanding the edge area in front of the vehicle in the historical environment map and deleting the edge area behind the vehicle according to the current pose information so as to enable the size of the updated historical environment map to be unchanged.
Optionally, the apparatus further comprises:
and the storage unit is used for storing each grid in the updated historical environment map in a three-value form, wherein the three values comprise obstacles, no obstacles and no ultrasonic detection.
The ultrasonic-based environment map generation device provided by the embodiment of the invention can be used for judging whether the plurality of ultrasonic measurement values conflict or not after the plurality of ultrasonic measurement values are obtained, removing invalid (namely low confidence) ultrasonic measurement values by using the confidence of the conflicting ultrasonic measurement values when the conflict exists so as to obtain valid ultrasonic measurement values (namely target ultrasonic measurement values) without conflict, and finally updating the historical environment map by using the valid ultrasonic measurement values and the current pose information of the vehicle, so that the influence on the accuracy of the environment map due to the interference of the plurality of ultrasonic signals is avoided.
Based on the above method embodiments, another embodiment of the present invention provides a storage medium having stored thereon executable instructions, which when executed by a processor, cause the processor to implement the method as described above.
Based on the above method embodiment, another embodiment of the present invention provides an autonomous vehicle, including:
one or more processors;
a storage device for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described above.
The system and apparatus embodiments correspond to the method embodiments, and have the same technical effects as the method embodiments, and for the specific description, refer to the method embodiments. The device embodiment is obtained based on the method embodiment, and for specific description, reference may be made to the method embodiment section, which is not described herein again. Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. An ultrasonic-based environment map generation method, characterized by comprising:
judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the ultrasonic measurement values in the grid map;
when the plurality of ultrasonic measurement values have conflict, at least two ultrasonic measurement values with conflict form a conflict sequence, and the confidence degree of each ultrasonic measurement value in the conflict sequence is initialized, wherein each ultrasonic measurement value in the conflict sequence has conflict with at least one other ultrasonic measurement value in the conflict sequence;
updating the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value, so as to obtain the target confidence coefficient of the current ultrasonic measurement value;
removing the ultrasonic measurement value with the minimum target confidence coefficient in the conflict sequence, returning to the execution step, judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement results represented by the ultrasonic measurement values in the grid map, and determining the current residual ultrasonic measurement value as the target ultrasonic measurement value until the current residual ultrasonic measurement value does not conflict;
and updating the historical environment map according to the pose information at the last moment of the vehicle, the current pose information determined by the current running state of the vehicle and the target ultrasonic measurement value.
2. The method of claim 1, wherein updating the confidence level of the current ultrasound measurement value based on the initialization confidence level of the current ultrasound measurement value in the collision sequence and the initialization confidence level of the ultrasound measurement value that has a collision with the current ultrasound measurement value to obtain the target confidence level of the current ultrasound measurement value comprises:
iteratively updating the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value;
and when the difference between the confidence degrees of each ultrasonic measured value after the last two iterations in the conflict sequence is smaller than a preset difference threshold, determining the confidence degree of the current ultrasonic measured value after the last iteration is updated as the target confidence degree.
3. The method of claim 2, wherein iteratively updating the confidence level for the current ultrasound measurement value based on the initialization confidence level for the current ultrasound measurement value in the collision sequence and the initialization confidence level for ultrasound measurement values that have a collision with the current ultrasound measurement value comprises:
substituting the initialization confidence coefficient of the current ultrasonic measurement value in the conflict sequence and the initialization confidence coefficient of the ultrasonic measurement value which conflicts with the current ultrasonic measurement value into an iterative formula, and iteratively updating the confidence coefficient of the current ultrasonic measurement value;
the iterative formula is: pk+1(i)＝(1-Πj∈SPk(j))+(Πj∈SPk(j))Pk(i)，
Wherein i represents the ith ultrasonic measurement value in the collision sequence, S represents the ultrasonic measurement value set which collides with the ith ultrasonic measurement value in the collision sequence, j represents the jth ultrasonic measurement value in the ultrasonic measurement value set, P represents the confidence coefficient, the confidence coefficient when k is 1 is the initialization confidence coefficient, and k is added with 1 every iteration.
4. The method of claim 1, wherein determining current pose information from pose information at a time on the vehicle and a current operational state of the vehicle comprises:
acquiring the pose information of the previous moment, the current steering wheel corner of the vehicle, the displacement of a left driven wheel at the current moment relative to the previous moment, the displacement of a right driven wheel at the current moment relative to the previous moment, the wheelbases of a front wheel and a rear wheel, and the corner ratio of the front wheel and the steering wheel at the current moment;
and determining the current pose information according to the pose information at the last moment, the current steering wheel corner, the left driven wheel displacement, the right driven wheel displacement, the front and rear wheel wheelbases and the corner ratio.
5. The method of claim 4, wherein determining the current pose information based on the pose information at the previous time, the current steering wheel angle, the left driven wheel displacement, the right driven wheel displacement, the front-to-rear wheel base, and the angle of rotation ratio comprises:
calculating the current pose information by the following formula:
Figure FDA0003216999300000021
Figure FDA0003216999300000022
Figure FDA0003216999300000023
wherein the content of the first and second substances,
Figure FDA0003216999300000024
the current pose information is represented by the current pose information,
Figure FDA0003216999300000025
representing the pose information of the previous time,
x represents the abscissa of the midpoint of the line connecting the midpoints of the two rear wheels, and y representsThe ordinate of the midpoint of the connecting line of the midpoints of the two rear wheels, theta represents the course angle of the vehicle, delta s represents the equivalent driven shaft speed, delta theta represents the course angle variation, and delta W representsclRepresenting the left driven wheel displacement, AW, of the current time relative to the previous timecrRepresenting the right driven wheel displacement, s, of the current time relative to the previous timeWIndicating the current steering wheel angle iSRepresents the turning angle ratio, WBRepresenting the front and rear wheel base.
6. The method of claim 1, wherein determining whether a conflict exists among a plurality of ultrasonic measurements based on obstacle measurements of the plurality of ultrasonic measurements characterized in a grid map comprises:
judging whether two ultrasonic measurement values in the plurality of ultrasonic measurement values have preset conflicts in the grid map to determine an overlapping area;
if the preset conflict determination overlap area exists, judging whether the two ultrasonic measurement values have the same obstacle measurement result in the overlap area for the preset conflict determination;
and if not, determining that the two ultrasonic measurement values conflict.
7. The method of claim 1, wherein updating the historical environmental map based on current pose information determined from pose information at a time on the vehicle and a current operational state of the vehicle and the target ultrasonic measurements comprises:
for the same grid to be updated in the historical environment map, if all target ultrasonic measured values covering the grid to be updated determine that an obstacle exists at the grid to be updated, marking the grid to be updated as the obstacle;
if all the target ultrasonic measurement values covering the grid to be updated do not determine that an obstacle exists at the grid to be updated, marking the grid to be updated as the obstacle does not exist;
wherein the grid to be updated comprises a grid covered by the target ultrasonic measurement value in a grid which is not detected by the obstacle in the historical environment map;
and updating the pose of the vehicle in the historical environment map according to the current pose information.
8. The method of claim 7, wherein updating the historical environmental map based on current pose information determined from pose information at a time on the vehicle and a current operational state of the vehicle and the target ultrasonic measurements, further comprises:
according to the current pose information, expanding the edge area in front of the vehicle in the historical environment map, and deleting the edge area behind the vehicle, so that the size of the updated historical environment map is unchanged.
9. The method of any one of claims 1-8, further comprising:
and storing each grid in the updated historical environment map in a three-value form, wherein the three values comprise obstacles, no obstacles and no ultrasonic detection.
10. An ultrasound-based environment map generation apparatus, the apparatus comprising:
the judging unit is used for judging whether the ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the ultrasonic measurement values in the grid map;
a generating unit, configured to, when there is a collision among the plurality of ultrasonic measurement values, configure at least two ultrasonic measurement values with a collision into a collision sequence, where each ultrasonic measurement value in the collision sequence collides with at least one other ultrasonic measurement value in the collision sequence;
the initialization unit is used for initializing the confidence of each ultrasonic measurement value in the collision sequence;
a confidence coefficient updating unit, configured to update the confidence coefficient of the current ultrasonic measurement value according to the initialization confidence coefficient of the current ultrasonic measurement value in the collision sequence and the initialization confidence coefficient of the ultrasonic measurement value that has a collision with the current ultrasonic measurement value, so as to obtain a target confidence coefficient of the current ultrasonic measurement value;
the removing unit is used for removing the ultrasonic measurement value with the minimum target confidence coefficient in the conflict sequence, and returning to the judging unit to execute the step to judge whether the plurality of ultrasonic measurement values conflict or not according to the obstacle measurement result represented by the plurality of ultrasonic measurement values in the grid map;
a determining unit, configured to determine the currently remaining ultrasonic measurement value as a target ultrasonic measurement value when there is no conflict in the currently remaining ultrasonic measurement values;
and the map updating unit is used for updating the historical environment map according to the current pose information determined by the pose information at the last moment of the vehicle and the current running state of the vehicle and the target ultrasonic measurement value.
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