CN109900279A - A kind of parking lot semanteme map creating method based on the routing of the parking position overall situation - Google Patents
A kind of parking lot semanteme map creating method based on the routing of the parking position overall situation Download PDFInfo
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Abstract
The present invention is a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation, utilize parking lot design drawing, screen the useful informations such as lane, parking stall, common mark, lane, parking stall, common identification information are stored with specific structure, draw parking lot semanteme map based on these specific structure information.The invention has the advantages that production is simple, and it is low in cost, it is stored with general XML format, is able to achieve precision in conjunction with vision positioning system and meets the needs of high-level automatic Pilot scenes such as Zi Dongboche valet parking；Storage parking lot vision semantic information improves positioning system and map scheme applicable ability diversified to scene in map in a specific way；Various information stores from top to bottom from lane, and global path, which is broadcast, to be searched for from bottom to top by parking stall numbering, can cooperate parking stall real-time status system, and monitoring parking stall is vacant/occupied state, facilitate cooperation to plan optimal parking path.
Description
Technical field
The present invention relates to positioning and navigation field more particularly to a kind of parking lot semanteme maps based on the routing of the parking position overall situation
Creation method.
Background technique
Nowadays, vehicle intellectualized is one important development trend of current automotive industry, and items are driven automatically based on automobile
The research sailed is carried out academia and industry are like a raging fire.Wherein automatic Pilot technology is weight in intelligent vehicle field
The a part wanted, system composition generally include the submodules such as perception, positioning, planning and Decision Control.According to it is different from
Dynamic to drive application scenarios, map required for locating module, used method and apparatus are also not exactly the same.It realizes advanced
Other Function for Automatic Pilot, suitable positioning and map scheme are indispensable a part.Vehicle positioning system is adopted more at present
With GPS signal positioning method is based on, precision is lower, and is not available under specific no GPS signal scene, such as intensive in high building
The scenes such as urban road, tunnel, underground garage, parking building under can not normal use.
Existing tradition parking lot mostly uses floor map, only indicates general connection information and parking stall position, is only applicable in and refers to
Draw driver and understand the general channel information in parking lot, is not able to satisfy the higher field of parking of Zi Dongboche valet parking equally accurate demand
Scape needs.Automatic parking valet parking during, such map scheme can not with vehicle carry out information exchange, can not determine
Accurate vehicle pose.The sensor that figure scheme relies on the higher costs such as laser radar, industrial camera more is built in interior at present, it is difficult to
It realizes commercial.Although the commercial scene such as similar warehouse robot is relatively low to sensor requirements, needs to place
It is transformed, such as draws two dimensional code in specific position and carry out assisting building figure positioning, then draw warehouse map again and two will be corresponded to
Dimension code information is attached in map, is had certain limitations to scene.
It is mainly as follows that figure scheme is built in existing parking lot: (i) is positioned immediately and map structuring (SLAM), is divided into laser SLAM
It is obtained by scanning point cloud data or depth image data using high-precision laser radar or depth camera with vision SLAM,
By image procossing, point cloud data calculating, data fusion, Surface Creation etc., the figure of building of environment rebuilt, laser SLAM scheme are realized
For the sensing system higher cost of auxiliary positioning, lack semantic information, and vision SLAM is then stringenter to environmental requirement,
And it builds during figure there are cumulative errors, precision is relatively low；(ii) is by transformation positioning identifier, as warehouse two dimensional code is drawn
System, the installation of Wi-Fi positioning device etc., then positioning identifier is plotted in actual measurement map and establishes indoor map, the program need to be to field
Scape transformation, later period also need not timing to safeguard.
Summary of the invention
Present invention mainly solves the above problems, provide one kind for assisting and realize high accuracy positioning, meet indoor and outdoor
The parking lot semanteme based on the routing of the parking position overall situation for scene navigational or the automatic parking/valet parking system location requirement of parking
Map creating method.
The technical solution adopted by the present invention to solve the technical problems is a kind of parking lot based on the routing of the parking position overall situation
Semantic map creating method, it is characterized in that: the following steps are included:
S1: parking lot semanteme map frame is established；
S2: lane network structure definition；
S3: land marking definition；
S4: aerial mark definition；
S5: bit architecture of parking definition；
S6: parking lot map is drawn.
The present invention utilize parking lot design drawing, screening lane, parking stall, it is common mark etc. useful informations, by lane, parking stall,
Common identification information is stored with specific structure, draws parking lot semanteme map based on these specific structure information.Vehicle vision system
It after system detects semantic information, is matched with the semantic information stored in map, then in conjunction with semantic mark corresponding in map
Position realize accurate vehicle location.
Scheme as a preference of the above scheme, the parking lot semanteme map frame include floor information, in floor
Lane information, the lane land marking, aerial mark and the parking space information that include.It can be real by parking lot semanteme map frame
Now the global path based on parking stall numbering is broadcast, and by determining parking stall numbering, obtains the parking space information, the affiliated lane in the parking stall
And corresponding floor information.
Scheme as a preference of the above scheme, the lane network structure definition, comprising the following steps:
S21: lane reference line information is obtained；
S22: lane reference line is divided by multistage according to lane line texture and Curvature varying situation, and is numbered；
S23: the details of every section of lane reference line are recorded.
Scheme as a preference of the above scheme, the details of the lane reference line include lane number, lane
Connection situation between initial position, number of lanes and different lanes.
Scheme as a preference of the above scheme, the mark definition include that land marking definition and aerial mark are fixed
Justice, the land marking definition, comprising the following steps:
S31: existing land marking information in screening parking lot；
S32: storage can indicate the coordinate and semantic information of land marking feature；
S33: the information of the land marking of storage lane specific location corresponding with the land marking is associated with.
Scheme as a preference of the above scheme, the aerial mark definition, comprising the following steps:
S41: existing aerial identification information in screening parking lot；
S42: aerial mark is abstracted into its corresponding shape；
S43: storage can indicate the coordinate of aerial identification characteristics；
S44: the information of storage identified in the air is identified to corresponding lane specific location association in the air with this.
Scheme as a preference of the above scheme, the bit architecture definition of parking are long including acquisition parking stall numbering, parking stall
Wide and direction, and above-mentioned parking space information is associated with floor belonging to parking position and lane specific location.
Scheme as a preference of the above scheme, the parking lot mapping include being drawn according to lane network structure
Lane reference line defines result and corresponds required positioning identifier further according to aerial mark, land marking and bit architecture of parking
It is plotted in semantic XML map.
The invention has the advantages that being based on parking lot design drawing, the useful informations such as screening lane, parking stall, common mark simplify
Map, production is simple, low in cost, is stored with general XML format, is able to achieve precision in conjunction with vision positioning system and meets automatically
The demand of the high-level automatic Pilot scene such as Bo Che valet parking；Storage parking lot vision semantic information is on ground in a specific way
In figure, replace that draws that two dimensional code realizes the transformation positioning identifier such as warehouse robot localization to build figure scheme, increase positioning system and
Map scheme applicable ability diversified to scene；Various information stores from top to bottom from lane, and global path is broadcast can be by vehicle
Bit number is searched for from bottom to top, can cooperate parking stall real-time status system, and monitoring parking stall is vacant/occupied state, facilitate cooperation to plan
Optimal parking path.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the invention.
Fig. 2 is a kind of flow chart that lane network structure defines in the present invention.
Fig. 3 is a kind of flow chart that land marking defines in the present invention.
Fig. 4 is a kind of flow chart of the hollow middle mark definition of the present invention.
Fig. 5 is a kind of structural schematic diagram of parking lot semanteme map frame in the embodiment of the present invention.
Fig. 6 is that lane network structure indicates schematic diagram in the embodiment of the present invention.
Fig. 7 is lane connection matrix in the embodiment of the present invention.
Fig. 8 is that land marking defines result table in the embodiment of the present invention.
Fig. 9 is that the hollow middle mark of the embodiment of the present invention defines result table.
Figure 10 defines result table for bit architecture of parking in the embodiment of the present invention.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing further description of the technical solution of the present invention.
Embodiment:
A kind of parking lot semanteme map creating method based on the routing of the parking position overall situation of the present embodiment, as shown in Figure 1, including
Following steps:
S1: parking lot semanteme map frame is established；
S2: lane network structure definition；
S3: mark definition, including land marking definition and aerial mark definition；
S4: bit architecture of parking definition；
S5: parking lot map is drawn.
Parking lot semanteme map frame be directed to parking lot automatic parking application scenarios, based on current location algorithm ability with connect
Mouthful, offline semantic map data format is defined, main includes road sign needed for road data needed for global routing and positioning
Data.
As shown in figure 5, the parking lot semanteme map frame includes floor information, the lane information in floor, lane packet
Land marking, aerial mark and the parking space information contained；It is able to achieve the global path based on parking stall numbering to broadcast, passes through determining vehicle
Bit number obtains parking stall length and width, specific coordinate, affiliated lane and corresponding floor information.
As shown in Fig. 2, the lane network structure definition, comprising the following steps:
S21: being based on parking lot CAD diagram, obtains lane reference line information；
S22: lane reference line is divided by multistage according to lane line texture and Curvature varying situation, and is numbered；
S23: recording the details of every section of lane reference line, including lane number, lane initial position, number of lanes with
And the connection situation between different lanes.
Lane network structure defines as shown in fig. 6, lane information is saved in the form gathered, and lane is gathered: lane=
[l0, l1, l2, l3..li... ln], lane set in each element represent one section of lane reference line information aggregate:
li=[lane number, starting point coordinate, terminal point coordinate, number of lanes, lane width] segmentation after every section of lane it
Between connected relation recorded in the form of the connection matrix of lane, lane connection matrix as shown in fig. 7, in matrix 0 indicate lane between
It is not connected to, is connected between 1 expression lane.It is Base Serial Number by floor inlet lane when being numbered to the lane after segmentation,
Lane is end number at floor exit.
As shown in figure 3, the land marking definition, comprising the following steps:
S31: existing land marking information in screening parking lot；
S32: according to the semantic information of each land marking, the 3D coordinate points and semanteme of index line textural characteristics will be indicated
Information is stored；
S33: the information of the land marking of storage lane specific location corresponding with the land marking is associated with.
It is as shown in Figure 8 that land marking defines final result, wherein defining 0 is left-hand bend index line, and 1 is instruction of turning right
Line, 2 be straight trip index line, and 3 be straight and turning left dactylogryposis timberline, and 4 be straight trip and right-hand bend index line, identifies key point coordinate set
It closes:
Pj=[(x0, y0, z0), (x1, y1, z1) ..., (xi, yi, zi)]
As shown in figure 4, the aerial mark definition, comprising the following steps:
S41: existing aerial identification information in screening parking lot；
S42: aerial mark is abstracted into its corresponding arbitrary shape；
S43: storage can indicate the 3D coordinate points of index line textural characteristics；
S44: the information of storage identified in the air is identified to corresponding lane specific location association in the air with this.
It is as shown in Figure 9 that aerial mark defines final result, wherein black triangle indicates the aerial Sign Board of triangle, real
Heart circle indicates round aerial Sign Board and so on, and the aerial Sign Board not of the same race of shape of the same race has different footmarks, footmark
It is formed according to Sign Board content abstraction.Wherein mark key point coordinate set chooses aerial mark unlike land marking
Four vertex of minimum circumscribed rectangle are key point to indicate its physical location:
Pj=[(x0, y0, z0), (x1, y1, z1), (x2, y2, z2),(x3, y3, z3)]
The bit architecture definition of parking includes obtaining parking stall numbering, parking stall length and width and direction, and above-mentioned parking space information is closed
It is linked to floor belonging to parking position and lane specific location.It is as shown in Figure 10 that bit architecture of parking defines final result.
The parking lot mapping includes combining parking lot CAD diagram, makes simplified lane network map, and according to
Above-mentioned lane defines method, first draws lane reference line, will be required fixed further according to aerial mark, land marking and parking stall definition etc.
Bit identification one-to-one correspondence is plotted in semantic XML map.
The present embodiment utilizes existing parking lot CAD diagram paper, the useful informations such as screening lane, length and width, and equal proportion scales, only
The aerial mark of corresponding position, land marking, parking stall label information need to be attached in map, parking lot environment is established in reduction
Mapping operations effectively improve and build figure efficiency；(the aerial mark of abstract, 3D characteristic point coordinate etc.) storage parking lot in a specific way
For vision semantic information in map, replace the transformation positioning identifiers such as drafting two dimensional code realization warehouse robot localization builds figure side
Case increases positioning system and map scheme applicable ability diversified to scene.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (8)
1. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation, it is characterized in that: the following steps are included:
S1: parking lot semanteme map frame is established；
S2: lane network structure definition；
S3: mark definition；
S4: bit architecture of parking definition；
S5: parking lot map is drawn.
2. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation according to claim 1, special
Sign is: the parking lot semanteme map frame include floor information, the lane information in floor, lane include land marking,
Aerial mark and parking space information.
3. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation according to claim 1, special
Sign is: the lane network structure definition, comprising the following steps:
S21: lane reference line information is obtained；
S22: lane reference line is divided by multistage according to lane line texture and Curvature varying situation, and is numbered；
S23: the details of every section of lane reference line are recorded.
4. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation according to claim 3, special
Sign is: the details of the lane reference line include between lane number, lane initial position, number of lanes and different lanes
Connection situation.
5. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation according to claim 1, special
Sign is: the mark definition includes land marking definition and aerial mark definition, the land marking definition, including following step
It is rapid:
S31: existing land marking information in screening parking lot；
S32: storage can indicate the coordinate and semantic information of land marking feature；
S33: the information of the land marking of storage lane specific location corresponding with the land marking is associated with.
6. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation according to claim 5, special
Sign is: the aerial mark definition, comprising the following steps:
S41: existing aerial identification information in screening parking lot；
S42: aerial mark is abstracted into its corresponding arbitrary shape；
S43: storage can indicate the coordinate of aerial identification characteristics；
S44: the information of storage identified in the air is identified to corresponding lane specific location association in the air with this.
7. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation according to claim 1, special
Sign is: the bit architecture definition of parking includes obtaining parking stall numbering, parking stall length and width and direction, and above-mentioned parking space information is associated with
Floor belonging to parking position and lane specific location.
8. a kind of parking lot semanteme map creating method based on the routing of the parking position overall situation according to claim 1, special
Sign is: the parking lot mapping includes drawing lane reference line according to lane network structure, further according to aerial mark, ground
The bit architecture that identifies and park defines result and required positioning identifier one-to-one correspondence is plotted in semantic XML map.
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| CN113535868A (en) * | 2021-06-11 | 2021-10-22 | 上海追势科技有限公司 | Autonomous parking high-precision map generation method based on public navigation map |
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| CN111077907A (en) * | 2019-12-30 | 2020-04-28 | 哈尔滨理工大学 | Autonomous positioning method of outdoor unmanned aerial vehicle |
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| CN112632310A (en) * | 2020-12-29 | 2021-04-09 | 苏州物图科技有限公司 | High-precision map construction method for indoor parking lot |
| CN112880696A (en) * | 2021-01-13 | 2021-06-01 | 成都朴为科技有限公司 | Parking system and method based on simultaneous mapping and positioning |
| CN113538950A (en) * | 2021-06-02 | 2021-10-22 | 上海追势科技有限公司 | Parking lot navigation road network generation method for AVP scene |
| CN113538950B (en) * | 2021-06-02 | 2022-11-04 | 上海追势科技有限公司 | Parking lot navigation road network generation method for AVP scene |
| CN113535868A (en) * | 2021-06-11 | 2021-10-22 | 上海追势科技有限公司 | Autonomous parking high-precision map generation method based on public navigation map |
| CN113778102A (en) * | 2021-09-22 | 2021-12-10 | 重庆长安汽车股份有限公司 | AVP global path planning system, method, vehicle and storage medium |
| CN113778102B (en) * | 2021-09-22 | 2023-05-12 | 重庆长安汽车股份有限公司 | AVP global path planning system, method, vehicle and storage medium |
| CN114136305A (en) * | 2021-12-01 | 2022-03-04 | 纵目科技（上海）股份有限公司 | Method, system and equipment for creating map with multiple map layers and computer-readable storage medium |
| CN114136305B (en) * | 2021-12-01 | 2024-05-31 | 纵目科技（上海）股份有限公司 | Multi-layer map creation method, system, equipment and computer readable storage medium |
| CN114155716A (en) * | 2022-02-08 | 2022-03-08 | 深圳市金蚁云数字科技有限公司 | Parking space management method, device, equipment and computer storage medium |
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