CN110706307A - Electronic map construction method and device and storage medium - Google Patents
Electronic map construction method and device and storage medium Download PDFInfo
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- CN110706307A CN110706307A CN201910962860.6A CN201910962860A CN110706307A CN 110706307 A CN110706307 A CN 110706307A CN 201910962860 A CN201910962860 A CN 201910962860A CN 110706307 A CN110706307 A CN 110706307A
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Abstract
The present disclosure provides an electronic map construction method, device and storage medium, relating to the technical field of electronic maps, wherein the method comprises: acquiring map node information collected by a test vehicle running in a target area; generating a target area map with an electronic fence by using map node information according to a preset map node organization strategy; the method comprises the steps of obtaining a front sensing range of a running vehicle and window safety boundaries corresponding to two sides of the running vehicle, constructing a movable sensing window in a target area map based on the front sensing range, the window safety boundaries and map node information, and dynamically updating. The method, the device and the storage medium solve the problems of difficulty in map establishment and large data volume and slow updating in special environments such as mining areas and the like, reduce the perception range by establishing the perception window, reduce the perception calculation difficulty and improve the perception precision.
Description
Technical Field
The present disclosure relates to the field of electronic maps, and in particular, to a method and an apparatus for constructing an electronic map, and a storage medium.
Background
When an autonomous vehicle is driving, a machine-readable map is required for accurately locating the vehicle. The existing construction technology of the high-precision electronic map is generally directed at common scenes, but is not applicable to scenes with severe environments such as mining area environments and the like. For example, aiming at the application background of the mining area environment, the dust in the mining area is large, a camera is difficult to apply, and the method for constructing the three-dimensional map by using the camera is not suitable for the mining area; in addition, the technical scheme based on the existing map construction has the problems of large map construction data volume, low response speed and the like, and the problems of high calculation cost and the like of constructing the 3D point cloud map by the laser radar. Therefore, it is necessary to provide a technical scheme for constructing an electronic map that is suitable for environments such as mining areas and has a fast response speed.
Disclosure of Invention
In view of the above, an object of the present disclosure is to provide an electronic map construction method, an electronic map construction apparatus, and a storage medium.
According to an aspect of the present disclosure, there is provided an electronic map construction method including: acquiring map node information collected by a test vehicle running in a target area; generating a target area map with an electronic fence by using the map node information according to a preset map node organization strategy; the electronic fence is used for limiting a safe area range of the vehicle during running; acquiring a front sensing range of a running vehicle and window safety boundaries corresponding to two sides of the running vehicle, and constructing a movable sensing window in the target area map based on the front sensing range, the window safety boundaries and the map node information; wherein the sensing window contains the current position of the running vehicle; when the current position of the running vehicle changes, dynamically updating the perception window based on the front perception range, the window safety boundary and the map node information.
Optionally, the map node information includes: map node position information, vehicle speed, road curvature, road slope information, boundary attribute information, and traffic regulation attribute information; the target area includes: travelable areas within a mine.
Optionally, the obtaining of the map node information collected by the test vehicle traveling in the target area includes: and acquiring the map node position information, the vehicle speed, the road curvature and the road gradient information acquired by the test vehicle by taking the sampling frequency of the GPS positioning equipment carried by the test vehicle as an information acquisition frequency.
Optionally, the acquiring map node information collected by a test vehicle driving in the target area further includes: acquiring manually marked traffic rule attribute information corresponding to the map node position information; wherein the traffic regulation attribute information includes: one-way and two-way traffic identification, turn around identification, intersection identification and bend identification attribute information; acquiring the width of the vehicle body of the test vehicle and the outward safe distance along two sides of the test vehicle, and acquiring the boundary attribute information based on the safe distance and the width of the vehicle body; wherein the boundary attribute information includes: left and right boundary information corresponding to a centroid of the test vehicle.
Optionally, the generating a target area map with an electronic fence according to a preset map node organization policy and using the map node information includes: taking the test vehicle as a mass point; determining a first map node corresponding to a position of the test vehicle in operation; and acquiring the boundary attribute information of the first map node, and generating the electronic fence according to the map node transverse organization strategy and based on the boundary attribute information.
Optionally, the generating a target area map with an electronic fence according to a preset map node organization policy and using the map node information includes: connecting the map nodes according to the map node longitudinal organization strategy to generate a plurality of map node subchains; and generating a map node chain based on the plurality of map node sub-chains.
Optionally, the obtaining the forward perception range of the running vehicle includes: determining a second map node corresponding to a current location of the traveling vehicle; selecting a first preset number of third map nodes behind the second map nodes on the map node chain along the running direction of the running vehicle; determining the forward perception range based on the second map node and the third map node.
Optionally, the obtaining window safety boundaries corresponding to both sides of the running vehicle comprises: if the running vehicle is determined to be located in the straight road currently, setting a first window distance; determining the window security boundary based on the first window distance; setting a second window distance if it is determined that the traveling vehicle is currently located at a curve; determining the window security boundary based on the second window distance; wherein the second window distance is greater than the first window distance.
Optionally, a second preset number of fourth map nodes behind the second map node are selected from the map node chain along the driving direction of the driving vehicle; and if the curve identification attribute information of the second map node and the fourth map node is determined to be the curve identification, determining that the running vehicle is located at the curve currently.
According to another aspect of the present disclosure, there is provided an electronic map construction apparatus including: the map data acquisition module is used for acquiring map node information acquired by a test vehicle running in a target area; the regional map generation module is used for generating a target regional map with the electronic fence by using the map node information according to a preset map node organization strategy; the electronic fence is used for limiting a safe area range of the vehicle during running; the sensing window determining module is used for obtaining a front sensing range of a running vehicle and window safety boundaries corresponding to two sides of the running vehicle, and constructing a movable sensing window in the target area map based on the front sensing range, the window safety boundaries and the map node information; wherein the sensing window contains the current position of the running vehicle; and the perception window updating module is used for dynamically updating the perception window based on the front perception range, the window safety boundary and the map node information when the current position of the running vehicle changes.
Optionally, the map node information includes: map node position information, vehicle speed, road curvature, road slope information, boundary attribute information, and traffic regulation attribute information; the target area includes: travelable areas within a mine.
Optionally, the map data acquisition module is further configured to acquire the map node position information, the vehicle speed, the road curvature, and the road gradient information acquired by the test vehicle, with a sampling frequency of a GPS positioning device mounted on the test vehicle as an information acquisition frequency.
Optionally, the map data acquisition module is further configured to acquire manually labeled traffic rule attribute information corresponding to the map node position information; wherein the traffic regulation attribute information includes: one-way and two-way traffic identification, turn around identification, intersection identification and bend identification attribute information; acquiring the width of the vehicle body of the test vehicle and the outward safe distance along two sides of the test vehicle, and acquiring the boundary attribute information based on the safe distance and the width of the vehicle body; wherein the boundary attribute information includes: left and right boundary information corresponding to a centroid of the test vehicle.
Optionally, the area map generation module is further configured to use the test vehicle as a particle; determining a first map node corresponding to a position of the test vehicle in operation; and acquiring the boundary attribute information of the first map node, and generating the electronic fence according to the map node transverse organization strategy and based on the boundary attribute information.
Optionally, the area map generation module is further configured to connect the map nodes according to the map node longitudinal organization policy to generate a plurality of map node sub-chains; and generating a map node chain based on the plurality of map node sub-chains.
Optionally, the perception window determining module is configured to determine a second map node corresponding to a current location of the traveling vehicle; selecting a first preset number of third map nodes behind the second map nodes on the map node chain along the running direction of the running vehicle; determining the forward perception range based on the second map node and the third map node.
Optionally, the perception window determining module is configured to set a first window distance if it is determined that the driving vehicle is currently located in a straight road; determining the window security boundary based on the first window distance; setting a second window distance if it is determined that the traveling vehicle is currently located at a curve; determining the window security boundary based on the second window distance; wherein the second window distance is greater than the first window distance.
Optionally, the perception window determining module is further configured to select a second preset number of fourth map nodes behind the second map node on the map node chain along the driving direction of the driving vehicle; and if the curve identification attribute information of the second map node and the fourth map node is determined to be the curve identification, determining that the running vehicle is located at the curve currently.
According to still another aspect of the present disclosure, there is provided an electronic map building apparatus including: a memory; and a processor coupled to the memory, the processor configured to perform the method as described above based on instructions stored in the memory.
According to yet another aspect of the present disclosure, a computer-readable storage medium is provided, which stores computer instructions for execution by a processor to perform the method as described above.
The electronic map construction method, the electronic map construction device and the electronic map storage medium solve the problems that a map is difficult to construct and large in data volume and slow in updating under special environments such as mining areas, and the perception range is narrowed through the construction of the perception window, so that the perception calculation difficulty is reduced, the perception accuracy is improved, and the electronic map construction method, the electronic map construction device and the electronic map storage medium are suitable for the response speed of large scenes.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive exercise.
FIG. 1 is a schematic flow chart diagram illustrating one embodiment of an electronic map construction method in accordance with the present disclosure;
FIG. 2 is a schematic diagram of one embodiment of generating a chain of map nodes;
FIG. 3 is a schematic view of one embodiment of a target area map with an electronic fence;
FIG. 4 is a diagram of one embodiment of a rolling sensing window;
FIG. 5 is a block diagram representation of one embodiment of an electronic mapping apparatus according to the present disclosure;
fig. 6 is a block diagram of another embodiment of an electronic map construction apparatus according to the present disclosure.
Detailed Description
The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure. The technical solution of the present disclosure is described in various aspects below with reference to various figures and embodiments.
The terms "first", "second", and the like are used hereinafter only for descriptive distinction and not for other specific meanings.
Fig. 1 is a schematic flow chart of an embodiment of an electronic map construction method according to the present disclosure, as shown in fig. 1:
step 101, obtaining map node information collected by a test vehicle running in a target area. The test vehicle can be various vehicles, and the target area can be a drivable area in a mining area and the like.
And 102, generating a target area map with the electronic fence by using the map node information according to a preset map node organization strategy. An electronic fence is a virtual boundary drawn around a real geographic area, and is used for defining a safe area range of a vehicle during driving;
and 103, acquiring a front sensing range of the running vehicle and window safety boundaries corresponding to two sides of the running vehicle, and constructing a movable sensing window in the target area map based on the front sensing range, the window safety boundaries and the map node information. The current position of the running vehicle is contained in the sensing window.
And 104, when the current position of the running vehicle is changed, dynamically updating the perception window based on the front perception range, the window safety boundary and the map node information.
The sensing window can be a rolling type sensing window, and a new sensing window is dynamically generated based on the front sensing range, the window safety boundary and the map node information along with the change of the current position of the running vehicle, so that the updating of the sensing window is realized.
The electronic map construction method in the embodiment organizes map nodes to construct a driving map of a mine area based on map node information acquired by a test vehicle in the driving area of the mine area, sets a sensing range in front of the current position of the vehicle and window safety boundaries corresponding to two sides of the vehicle, constructs a target area map with an electronic fence and a rolling sensing window thereof, and the sensing window can be rolled and updated along with the advancing of the driving vehicle; the problems of difficulty in map establishment and large data volume and slow updating in special environments such as mining areas are solved, the perception range is narrowed through establishing the perception window, the perception calculation difficulty is reduced, the perception precision is improved, and the response speed of a large scene is adapted.
In one embodiment, the map node information includes: map node location information, vehicle speed, road curvature, road grade information, boundary attribute information, and traffic regulation attribute information. Map node location information may be obtained in a variety of ways, for example, using a GPS positioning device. And acquiring the map node position information, the vehicle speed, the road curvature and the road gradient information acquired by the test vehicle by taking the sampling frequency of the GPS positioning equipment carried by the test vehicle as the information acquisition frequency. The test vehicle can be provided with various sensors for acquiring information such as vehicle speed, road curvature, road gradient and the like.
Acquiring manually marked traffic rule attribute information corresponding to the map node position information, wherein the traffic rule attribute information comprises: one-way and two-way traffic identification, turn-around identification, intersection identification, curve identification attribute information and the like. Acquiring the width of a vehicle body of a test vehicle and the outward safe distance along two sides of the test vehicle, and acquiring boundary attribute information based on the safe distance and the width of the vehicle body, wherein the boundary attribute information comprises: left and right boundary information corresponding to a centroid of the test vehicle. The map acquisition mode carried out in the drivable area of the mining area environment effectively solves the problems of slow updating and low precision of the mining area map information.
In one embodiment, a mining vehicle (test vehicle) provided with a positioning device is manually driven to run in a drivable area of a mining area, track points along the drivable area are acquired, the position coordinates of vehicle nodes (map nodes) are acquired by taking the frequency of a GPS positioning device as a reference, and a plurality of items of attribute information of the map nodes are determined through sampling, coordinate transformation, calculation operation and the like. The content of the map node position information is shown in the following table 1, wherein the traffic regulation attribute of 9-12 items is calibrated by an experienced driver; the collected map node position information is a GPS coordinate which comprises an X coordinate, a Y coordinate and a Z coordinate.
TABLE 1-information Table of map node location information
The manually driven test vehicle usually runs on the center line of the drivable area, and when the left and right side boundary information in the map node information is acquired, the vertical distance from the center of the test vehicle to the left and right side edges of the drivable area is acquired as d, and the d is the left and right side boundary information: d is (a +2b)/2, wherein a is the width of the vehicle body of the test vehicle, and b is the outward safety distance of the two sides of the vehicle body of the test vehicle. For example, if the width of the vehicle body of the test vehicle is 6m, and the two sides of the vehicle body of the test vehicle are outward by 5m as a safety distance, d ═ 6+ 5)/2 ═ 8m, the left and right side boundaries are located on the borderlines at positions 8m away from the left and right sides of the center of the test vehicle, respectively.
In one embodiment, generating a target area map with electronic fences according to a map node organization policy and using map node information may use a variety of methods. For example, using the test vehicle as a particle, a first map node corresponding to a location where the test vehicle is in operation is determined. Boundary attribute information of the first map node is obtained, and the electronic fence is generated according to a map node transverse organization strategy and based on the boundary attribute information. Map nodes are connected according to a map node longitudinal organization strategy to generate a plurality of map node sub-chains, and a map node chain is generated based on the map node sub-chains.
There may be various methods for obtaining the forward perception range of the running vehicle. For example, a second map node corresponding to the current position of the running vehicle is determined, and a first preset number of third map nodes behind the second map node are selected on the map node chain along the running direction of the running vehicle; and determining a front perception range based on the second map node and the third map node. The first predetermined number may be set, for example, to 10-50, etc.
In one embodiment, the map node organization strategy may include a horizontal and vertical organization manner (organization strategy) of the map nodes, the obtained map nodes are horizontally and vertically organized based on the horizontal and vertical organization manner, and a mine area map with an electronic fence is constructed by combining map node information. The electronic fence is mainly used for limiting the safety range of the vehicle capable of moving left and right during running. As shown in fig. 3, the range surrounded by the two outermost edges 31 and 32 of the three lines forms an electronic fence. Only when the mining area vehicle appears in the specific electronic fence, the mining area vehicle can be considered to run in a safety area, once the mining area vehicle is located outside the electronic fence, the safety of the mining area vehicle is considered not to be guaranteed, and the mining area vehicle can be timely reminded to run to a standard area in an alarming mode.
The map node longitudinal organization mode is that map nodes which are pushed forward and backward within a certain range (such as within a range of 50 meters) by a collection vehicle are connected to form a map node sub-chain based on collected map node information, and a plurality of map node sub-chains form a map node chain. As shown in fig. 2, a map node chain is constructed based on three map node sub-chains.
The map nodes are organized in the horizontal direction in such a manner that the test vehicle is regarded as a mass point, and the boundary attribute information of the map node information, the set safe distance, or the like is taken as a specific distance value as the movement of the test vehicle, and a line formed by a plurality of points having a specific distance value (for example, 5m) from both sides of the test vehicle is taken as left and right side boundaries (boundary lines 31, 32), and is surrounded by an electronic fence of a travelable area (as shown in fig. 3).
In one embodiment, a movable sensing window is constructed in the target area map based on the front sensing range, the window safety boundary and the map node information, the width of the sensing window is larger than the distance between the widths (edges 31 and 32) of the electronic fences, namely, a section of safety area range (a section of electronic fence) between the current position of the vehicle and the front sensing range is contained in the sensing window.
If the running vehicle is determined to be located in the straight road currently, setting a first window distance; determining a window security boundary based on the first window distance; setting a second window distance if it is determined that the traveling vehicle is currently located at the curve; determining a window security boundary based on the second window distance; wherein the second window distance is greater than the first window distance.
Selecting a second preset number of fourth map nodes behind the second map node on the map node chain along the driving direction of the driving vehicle; and if the curve identification attribute information of the second map node and the fourth map node is determined to be the curve identification, determining that the running vehicle is currently located in the curve. The second preset number may be set, for example, 5-20, etc.
In one embodiment, a mine area map with the electronic fence is constructed by combining map node information, a strip-shaped drivable area is divided in the two-dimensional mine area map, and the setting of the range of the electronic fence is realized, wherein the strip-shaped area is the range of the electronic fence and is used for limiting the left and right safety ranges of the driving of a vehicle. Each map node in the travelable area is provided with x, y and z position coordinates, speed, curvature of a curve, gradient of a road section, left and right boundary distance with the map node as the center, one-way and two-way traffic identification, turn-around identification, intersection identification, curve identification and the like, so that mining area vehicles can accurately know the position condition of the mining area vehicles in the driving process of the mining area, and the driving safety can be improved.
And constructing a movable sensing window by setting a front sensing range of the current position of the vehicle and window safety boundaries between the left side and the right side of the vehicle based on the collected map node information and the constructed mining area map. The perception window defines a perception zone that is updated as the vehicle rolls forward, and the perception window is used for defining a local perception zone in front of the vehicle.
The front sensing range of the current position of the vehicle is set to be 40m-60m, and the distance from the boundaries of the two sides of the vehicle body to the window safety boundary is set to be 5m-20 m. The setting of the front sensing range mainly considers the effective sensing ranges of the millimeter wave radar, the laser radar and the vision sensor in the environment of the mine; the distance of the window safety boundary mainly considers factors such as the width of a mine road, the width of a travelable area (an area enclosed by the electronic fence) and the like.
Two sensing window sizes are set aiming at two road forms of a straight road and a curve, and the width of the sensing window (namely a window safety boundary) is enlarged under the condition of the curve so as to relieve the influence of a sensing blind area of the curve. Whether the current map node is in the curve or not can be judged based on the curve identification attribute information in the map node information, and different sensing window sizes are selected according to the judgment result.
If the curve identification attribute information in the map node of the current position of the running vehicle and the map node information of the preset number (for example, 5) in front of the map node are both non-curve attributes, the map node of the current position of the running vehicle is judged to be in a straight road. Based on the collected and organized map node information, the size of a straight-road perception window is defined as follows: length: the area defined by the sub-chain ahead of the current vehicle (e.g., 50m ahead); width: a window safety margin at a certain distance from the left and right sides of the vehicle (e.g., 8m from the left and right sides of the center of the vehicle body).
If the curve identification attribute information of the map node of the current position of the running vehicle and the curve identification attribute information of a map node of a set number (for example, 5) ahead are both curve attributes, it is determined that the map node of the current position of the running vehicle is in a straight road. Based on the collected and organized map node information, defining the size of a curve perception window as follows: length: the area defined by the sub-chain ahead of the current vehicle (e.g., 50m ahead); width: a window safety margin at a certain distance from the left and right sides of the vehicle (for example, 20m each from the left and right sides of the center of the vehicle body).
As the unmanned tramcar moves, the sensing area forms a movable window and is updated as the vehicle rolls forward. As shown in fig. 4, each of the sensing windows 1, 2, 3 is concentrated in the area defined by the sub-chain in front of the vehicle and the electronic fence, and the width of each of the sensing windows 1, 2, 3 may also be larger than the width of the electronic fence. In the process of displaying the electronic map, the sensing windows 1, 2 and 3 are sequentially displayed, and the sensing range of the vehicle is narrowed, the complexity of sensing environment is reduced and the calculation complexity is reduced by limiting the local sensing window area in front of the vehicle.
In one embodiment, as shown in fig. 5, the present disclosure provides an electronic map construction apparatus 50 including: a map data acquisition module 51, a regional map generation module 52, a perception window determination module 53, and a perception window update module 54. The map data acquisition module 51 acquires map node information acquired by a test vehicle traveling in a target area. The regional map generation module 52 generates a target regional map with electronic fences by using map node information according to a preset map node organization strategy; the electronic fence is used for limiting a safe area range of the vehicle during driving.
The sensing window determining module 53 obtains a front sensing range of the running vehicle and window safety boundaries corresponding to two sides of the running vehicle, and constructs a movable sensing window in the target area map based on the front sensing range, the window safety boundaries and the map node information; wherein, the perception window contains the current position of the running vehicle. The perception window updating module 54 dynamically updates the perception window based on the forward perception range, the window safety boundary, and the map node information when the current position of the traveling vehicle changes.
In one embodiment, the map node information includes: map node position information, vehicle speed, road curvature, road slope information, boundary attribute information, traffic regulation attribute information, and the like; the target area includes: travelable areas within a mine area, etc. The map data acquisition module 51 acquires map node position information, vehicle speed, road curvature, and road gradient information acquired by the test vehicle, using the sampling frequency of the GPS positioning device mounted on the test vehicle as the information acquisition frequency.
The map data acquisition module 51 acquires manually marked traffic rule attribute information corresponding to the map node position information; wherein the traffic regulation attribute information includes: one-way and two-way traffic identification, turn around identification, intersection identification and curve identification attribute information. The map data acquisition module 51 acquires the width of the vehicle body of the test vehicle and the outward safe distance along the two sides of the test vehicle, and acquires boundary attribute information based on the safe distance and the width of the vehicle body; wherein the boundary attribute information includes: left and right boundary information corresponding to the centroid of the test vehicle, and the like.
The area map generation module 52 determines a first map node corresponding to a location of the test vehicle in operation, using the test vehicle as a mass point. The regional map generation module 52 obtains boundary attribute information of the first map node, and generates an electronic fence according to a map node transverse organization strategy and based on the boundary attribute information. The area map generation module 52 connects the map nodes according to the map node longitudinal organization strategy, generates a plurality of map node sub-chains, and generates a map node chain based on the plurality of map node sub-chains.
In one embodiment, the perception window determination module 53 determines a second map node corresponding to the current location of the traveling vehicle. The sensing window determining module 53 selects a first preset number of third map nodes behind the second map node on the map node chain along the driving direction of the driving vehicle. The perception window determining module 53 determines the front perception range based on the second map node and the third map node.
If it is determined that the traveling vehicle is currently located in a straight lane, the sensing window determining module 53 sets a first window distance, and determines a window safety boundary based on the first window distance. If it is determined that the traveling vehicle is currently located at a curve, the sensing window determining module 53 sets a second window distance, and determines a window safety boundary based on the second window distance; wherein the second window distance is greater than the first window distance.
The sensing window determining module 53 selects a second preset number of fourth map nodes behind the second map node on the map node chain along the driving direction of the driving vehicle. If it is determined that the curve identification attribute information of the second map node and the fourth map node are both the curve identification, the sensing window determining module 53 determines that the traveling vehicle is currently located at the curve.
Fig. 6 is a block diagram of another embodiment of an electronic map construction apparatus according to the present disclosure. As shown in fig. 6, the apparatus may include a memory 61, a processor 62, a communication interface 63, and a bus 64. The memory 61 is used for storing instructions, the processor 62 is coupled to the memory 61, and the processor 62 is configured to execute the electronic map building method implemented above based on the instructions stored in the memory 61.
The memory 61 may be a high-speed RAM memory, a non-volatile memory (non-volatile memory), or the like, and the memory 61 may be a memory array. The storage 61 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules. The processor 62 may be a central processing unit CPU, or an application specific integrated circuit asic, or one or more integrated circuits configured to implement the electronic map construction method of the present disclosure.
In one embodiment, the present disclosure provides a vehicle comprising the electronic map building apparatus as in any of the above embodiments. The vehicle may be a variety of mine vehicles, etc.
In one embodiment, the present disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement an electronic map construction method as in any of the above embodiments.
According to the electronic map construction method, the electronic map construction device and the storage medium in the embodiment, the map node is collected through the collection vehicle, equipment such as a camera is not relied on, the problem that mine dust affects drawing precision is avoided, the mine driving map can be drawn without huge data by collecting map node information, and the problem that huge data is required to be collected during drawing is avoided; the map of the drivable area of the mining area is constructed by utilizing multiple items of attribute information of map nodes acquired by an acquisition vehicle, and the acquisition mode of the map nodes breaks through the limitations of slow updating and low precision of the map information of the mining area; based on the virtual electronic fence of the running boundary of the left side and the right side of the GPS, a local sensing window area in a certain range of the left side and the right side of the vehicle and a certain distance in front of the vehicle is constructed in a way of organizing map topology by sub-chains in sections, and by limiting the local sensing window area in front of the vehicle, the range of vehicle sensing and positioning work is reduced, and the retrieval complexity of the map is reduced; the sensing work of the vehicle is limited in the sensing window through the rolling type sensing window, so that the complexity of sensing environment is reduced, the calculation complexity is reduced, the response speed of large-scale scenes is adapted, and the use sensitivity of a user is improved.
The method and system of the present disclosure may be implemented in a number of ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (20)
1. An electronic map construction method, comprising:
acquiring map node information collected by a test vehicle running in a target area;
generating a target area map with an electronic fence by using the map node information according to a preset map node organization strategy; the electronic fence is used for limiting a safe area range of the vehicle during running;
acquiring a front sensing range of a running vehicle and window safety boundaries corresponding to two sides of the running vehicle, and constructing a movable sensing window in the target area map based on the front sensing range, the window safety boundaries and the map node information; wherein the sensing window contains the current position of the running vehicle;
when the current position of the running vehicle changes, dynamically updating the perception window based on the front perception range, the window safety boundary and the map node information.
2. The method of claim 1, wherein,
the map node information includes: map node position information, vehicle speed, road curvature, road slope information, boundary attribute information, and traffic regulation attribute information;
the target area includes: travelable areas within a mine.
3. The method of claim 2, wherein the obtaining of the map node information collected by the test vehicle traveling in the target area comprises:
and acquiring the map node position information, the vehicle speed, the road curvature and the road gradient information acquired by the test vehicle by taking the sampling frequency of the GPS positioning equipment carried by the test vehicle as an information acquisition frequency.
4. The method of claim 3, wherein the obtaining of the map node information collected by the test vehicle traveling in the target area further comprises:
acquiring manually marked traffic rule attribute information corresponding to the map node position information; wherein the traffic regulation attribute information includes: one-way and two-way traffic identification, turn around identification, intersection identification and bend identification attribute information;
acquiring the width of the vehicle body of the test vehicle and the outward safe distance along two sides of the test vehicle, and acquiring the boundary attribute information based on the safe distance and the width of the vehicle body;
wherein the boundary attribute information includes: left and right boundary information corresponding to a centroid of the test vehicle.
5. The method of claim 4, the organizing a policy according to preset map nodes and generating a target area map with electronic fences using the map node information comprising:
taking the test vehicle as a mass point;
determining a first map node corresponding to a position of the test vehicle in operation;
and acquiring the boundary attribute information of the first map node, and generating the electronic fence according to the map node transverse organization strategy and based on the boundary attribute information.
6. The method of claim 5, the organizing a policy according to preset map nodes and generating a target area map with electronic fences using the map node information comprising:
connecting the map nodes according to the map node longitudinal organization strategy to generate a plurality of map node subchains;
and generating a map node chain based on the plurality of map node sub-chains.
7. The method of claim 6, wherein the obtaining a forward perception range of a traveling vehicle comprises:
determining a second map node corresponding to a current location of the traveling vehicle;
selecting a first preset number of third map nodes behind the second map nodes on the map node chain along the running direction of the running vehicle;
determining the forward perception range based on the second map node and the third map node.
8. The method of claim 7, the obtaining window safety boundaries corresponding to two sides of the moving vehicle comprising:
if the running vehicle is determined to be located in the straight road currently, setting a first window distance;
determining the window security boundary based on the first window distance;
setting a second window distance if it is determined that the traveling vehicle is currently located at a curve;
determining the window security boundary based on the second window distance;
wherein the second window distance is greater than the first window distance.
9. The method of claim 8, further comprising:
selecting a second preset number of fourth map nodes behind the second map node on the map node chain along the running direction of the running vehicle;
and if the curve identification attribute information of the second map node and the fourth map node is determined to be the curve identification, determining that the running vehicle is located at the curve currently.
10. An electronic map construction apparatus comprising:
the map data acquisition module is used for acquiring map node information acquired by a test vehicle running in a target area;
the regional map generation module is used for generating a target regional map with the electronic fence by using the map node information according to a preset map node organization strategy; the electronic fence is used for limiting a safe area range of the vehicle during running;
the sensing window determining module is used for obtaining a front sensing range of a running vehicle and window safety boundaries corresponding to two sides of the running vehicle, and constructing a movable sensing window in the target area map based on the front sensing range, the window safety boundaries and the map node information; wherein the sensing window contains the current position of the running vehicle;
and the perception window updating module is used for dynamically updating the perception window based on the front perception range, the window safety boundary and the map node information when the current position of the running vehicle changes.
11. The apparatus of claim 10, wherein,
the map node information includes: map node position information, vehicle speed, road curvature, road slope information, boundary attribute information, and traffic regulation attribute information;
the target area includes: travelable areas within a mine.
12. The apparatus of claim 11, wherein,
the map data acquisition module is further used for acquiring the map node position information, the vehicle speed, the road curvature and the road gradient information acquired by the test vehicle by taking the sampling frequency of the GPS positioning device carried by the test vehicle as an information acquisition frequency.
13. The apparatus of claim 12, wherein,
the map data acquisition module is also used for acquiring the traffic rule attribute information which is manually marked and corresponds to the map node position information; wherein the traffic regulation attribute information includes: one-way and two-way traffic identification, turn around identification, intersection identification and bend identification attribute information; acquiring the width of the vehicle body of the test vehicle and the outward safe distance along two sides of the test vehicle, and acquiring the boundary attribute information based on the safe distance and the width of the vehicle body; wherein the boundary attribute information includes: left and right boundary information corresponding to a centroid of the test vehicle.
14. The apparatus of claim 13, wherein,
the regional map generation module is also used for taking the test vehicle as a particle; determining a first map node corresponding to a position of the test vehicle in operation; and acquiring the boundary attribute information of the first map node, and generating the electronic fence according to the map node transverse organization strategy and based on the boundary attribute information.
15. The apparatus of claim 14, wherein,
the regional map generation module is further used for connecting the map nodes according to the map node longitudinal organization strategy to generate a plurality of map node subchains; and generating a map node chain based on the plurality of map node sub-chains.
16. The apparatus of claim 15, wherein,
the perception window determining module is used for determining a second map node corresponding to the current position of the running vehicle; selecting a first preset number of third map nodes behind the second map nodes on the map node chain along the running direction of the running vehicle; determining the forward perception range based on the second map node and the third map node.
17. The apparatus of claim 16, wherein,
the perception window determining module is used for setting a first window distance if the driving vehicle is determined to be located in a straight road currently; determining the window security boundary based on the first window distance; setting a second window distance if it is determined that the traveling vehicle is currently located at a curve; determining the window security boundary based on the second window distance; wherein the second window distance is greater than the first window distance.
18. The apparatus of claim 17, wherein,
the perception window determining module is further configured to select a second preset number of fourth map nodes behind the second map node on the map node chain along the driving direction of the driving vehicle; and if the curve identification attribute information of the second map node and the fourth map node is determined to be the curve identification, determining that the running vehicle is located at the curve currently.
19. An electronic map construction apparatus comprising:
a memory; and a processor coupled to the memory, the processor configured to perform the method of any of claims 1-9 based on instructions stored in the memory.
20. A computer-readable storage medium having stored thereon computer instructions for execution by a processor to perform the method of any one of claims 1 to 9.
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