CN110954114B - Method and device for generating electronic map, terminal and storage medium - Google Patents
Method and device for generating electronic map, terminal and storage medium Download PDFInfo
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- CN110954114B CN110954114B CN201911176930.1A CN201911176930A CN110954114B CN 110954114 B CN110954114 B CN 110954114B CN 201911176930 A CN201911176930 A CN 201911176930A CN 110954114 B CN110954114 B CN 110954114B
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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
- G01C21/3848—Data obtained from both position sensors and additional sensors
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- 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
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3811—Point data, e.g. Point of Interest [POI]
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Abstract
The disclosure provides a method, a device, a terminal and a storage medium for generating an electronic map, and belongs to the field of automatic driving. The method comprises the following steps: determining first attitude change information of the vehicle according to the running environment information at a first moment and the running environment information at a second moment in the running process of the vehicle, wherein the first moment is a next map updating moment of the second moment; determining second attitude change information of the vehicle according to the running environment information at the first moment and the first electronic map, wherein the updating time of the first electronic map is the second moment; acquiring target pose change information of the vehicle based on third pose change information, the first pose change information and the second pose change information, wherein the third pose change information is the pose change information of the vehicle at the first moment and the second moment measured by a positioning device on the vehicle; and updating the first electronic map based on the target pose change information and the running environment information at the first moment to obtain a second electronic map.
Description
Technical Field
The present disclosure relates to the field of automatic driving, and in particular, to a method and an apparatus for generating an electronic map, a terminal, and a storage medium.
Background
In the automatic driving process of the vehicle, the generation of the electronic map is a very critical ring in the whole automatic driving system. The electronic map with high precision can help the whole automatic driving system to obtain accurate vehicle pose information on one hand, and can provide more local driving environment information on the other hand, so that a decision basis is provided for a decision planning module.
In conventional map construction methods, the generation of maps relies on high precision third party positioning information. The method comprises the following specific steps: the method comprises the steps of firstly collecting driving environment information and third party positioning information required in an area to be mapped by using a map collecting vehicle, and then carrying out off-line matching and splicing on the collected driving environment information based on the third party positioning information so as to complete generation of an electronic map.
Due to the fact that the data volume of the driving environment information and the high-precision third party positioning information for generating the electronic map is very large, and the matching and splicing of the data are time-consuming, the method cannot achieve real-time generation of the electronic map, and the generation efficiency of the electronic map is not high.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device, a terminal and a storage medium for generating an electronic map, which can solve the problem of low construction efficiency of the electronic map in the related art. The technical scheme is as follows:
in one aspect, a method for generating an electronic map is provided, where the method includes:
determining first attitude change information of a vehicle according to running environment information at a first moment and running environment information at a second moment in the running process of the vehicle, wherein the first moment is a map updating moment after the second moment;
determining second attitude change information of the vehicle according to the running environment information at the first moment and a first electronic map, wherein the updating time of the first electronic map is the second moment;
acquiring target pose change information of the vehicle based on third pose change information, the first pose change information and the second pose change information, wherein the third pose change information is pose change information of the vehicle at the first moment and the second moment measured by a positioning device on the vehicle;
and updating the first electronic map based on the target pose change information and the running environment information at the first moment to obtain a second electronic map.
In one possible embodiment, the acquiring target pose change information of the vehicle based on the third pose change information, the first pose change information, and the second pose change information includes:
generating a pose change range of the vehicle based on the third pose change information, the first pose change information, and the second pose change information;
selecting pose change information of the target number from the pose change range, wherein the pose change range of the vehicle represents the possible pose change condition of the vehicle at the first moment;
selecting a plurality of candidate pose change information from the pose change information of the target number, and determining first similarity information between each candidate pose information and the first pose information, second similarity information between each candidate pose information and the second pose information, and third similarity information between each candidate pose information and the third pose information;
summing the first similarity information, the second similarity information and the third similarity information to obtain a similarity information sum of the alternative pose change information;
and determining the similarity information and the maximum candidate pose information as target pose change information of the vehicle.
In one possible embodiment, the determining the first attitude change information of the vehicle according to the running environment information at the first time and the running environment information at the second time during the running of the vehicle includes:
determining at least one same first environment element in the running environment information at the first moment and the running environment information at the second moment, predicting first attitude information of the vehicle at the first moment based on the at least one same first environment element and second attitude information of the vehicle at the second moment, and determining first attitude change information of the vehicle based on the first attitude information and the second attitude information.
In one possible embodiment, the determining the second posture change information of the vehicle according to the driving environment information at the first time and the first electronic map includes:
comparing the running environment information at the first moment with the environment information in the first electronic map, determining at least one same second environment element, and determining third posture information of the vehicle in the first electronic map at the first moment based on the at least one same second environment element;
determining second position change information of the vehicle based on the first position information and the third position information.
In a possible implementation manner, before the updating the first electronic map based on the object pose change information and the driving environment information at the first time to obtain a second electronic map, the method further includes:
and determining whether the target pose change information is greater than a pose change threshold, and executing the updating process of the first electronic map when the target pose change information is greater than the pose change threshold.
In a possible implementation manner, the updating the first electronic map based on the object pose change information and the driving environment information at the first time to obtain a second electronic map includes:
acquiring differential driving environment information which is not contained in the first electronic map from the driving environment information at the first moment;
and updating the first electronic map based on the difference driving environment information and the target pose information to obtain the second electronic map.
In one aspect, an apparatus for generating an electronic map is provided, the apparatus including:
the first determining module is used for determining first attitude change information of the vehicle according to running environment information at a first moment and running environment information at a second moment in the running process of the vehicle, wherein the first moment is a map updating moment after the second moment;
the second determining module is used for determining second attitude change information of the vehicle according to the running environment information at the first moment and a first electronic map, and the updating time of the first electronic map is the second moment;
an obtaining module, configured to obtain target pose change information of the vehicle based on third pose change information, the first pose change information, and the second pose change information, where the third pose change information is pose change information of the vehicle at the first time and the second time measured by a positioning device on the vehicle;
and the updating module is used for updating the first electronic map based on the target pose change information and the running environment information at the first moment to obtain a second electronic map.
In a possible implementation, the obtaining module includes:
a generation unit configured to generate a posture change range of the vehicle based on the third posture change information, the first posture change information, and the second posture change information;
the first selection unit is used for selecting pose change information of the number of targets from the pose change range, and the pose change range of the vehicle represents the possible pose change condition of the vehicle at the first moment;
a second selecting unit, configured to select multiple candidate pose change information from the pose change information of the target number, and determine first difference information between each candidate pose information and the first pose information, second difference information between each candidate pose information and the second pose information, and third difference information between each candidate pose information and the third pose information;
and the first determining unit is used for summing the first difference information, the second difference information and the third difference information to obtain difference information sum, and determining the difference information sum and the minimum candidate pose information as target pose change information of the vehicle.
In one possible implementation, the first determining module includes:
a second determination unit configured to determine at least one same first environment element of the driving environment information at the first time and the driving environment information at the second time;
a prediction unit configured to predict first attitude information of the vehicle at the first time based on the at least one same first environmental element and second attitude information of the vehicle at the second time;
a third determination unit configured to determine first posture change information of the vehicle based on the first posture information and the second posture information.
In one possible embodiment, the second determination module determines the second posture change information of the vehicle according to the driving environment information at the first time and a first electronic map, and includes:
a third determining unit, configured to compare the driving environment information at the first time with the environment information in the first electronic map, and determine a plurality of identical second environment elements;
a fourth determining unit, configured to determine, based on the plurality of identical second environment elements, third posture information of the vehicle in the first electronic map at the first time;
a fifth determination unit configured to determine second posture change information of the vehicle based on the first posture information and the third posture information.
In a possible embodiment, the apparatus further comprises:
and the third determination module is used for determining whether the target pose change information is greater than a pose change threshold value or not, and executing the updating process of the first electronic map when the target pose change information is greater than the pose change threshold value.
In one possible implementation, the update module includes:
an acquisition unit configured to acquire differential driving environment information that is not included in the first electronic map from the driving environment information at the first time;
and the updating unit is used for updating the first electronic map based on the difference driving environment information and the target pose information to obtain the second electronic map.
In one aspect, a computer device is provided that includes one or more processors and one or more memories having at least one instruction stored therein, the instruction being loaded and executed by the one or more processors to implement the operations performed by the electronic map generation method.
In one aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, the instruction being loaded and executed by a processor to implement operations performed by a method of generating the electronic map.
According to the method provided by the embodiment of the disclosure, the vehicle-mounted terminal determines first posture change information of the vehicle based on the running environment information at the first moment and the second moment, determines second posture change information of the vehicle based on the running environment information at the first moment and the first electronic map, determines third posture change information of the vehicle based on the positioning device, and acquires target posture change information based on the first posture change information, the second posture change information and the third posture change information.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of an electronic map generation method provided by an embodiment of the present disclosure;
fig. 2 is a flowchart of an electronic map generation method provided by an embodiment of the present disclosure;
FIG. 3 is a scene diagram of a first pose change information determination provided by an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic map generating apparatus according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for generating an electronic map, provided in an embodiment of the present disclosure, and referring to fig. 1, the method includes:
in step S101, first posture change information of the vehicle is determined based on the running environment information at a first time and the running environment information at a second time during the running of the vehicle, the first time being a map update time subsequent to the second time.
In step S102, second posture change information of the vehicle is specified based on the running environment information at the first time and the first electronic map, and the update time of the first electronic map is the second time.
In step S103, target pose change information of the vehicle is obtained based on third pose change information, the first pose change information, and the second pose change information, where the third pose change information is pose change information of the vehicle at the first time and the second time measured by a positioning device on the vehicle.
In step S104, the first electronic map is updated based on the target pose change information and the driving environment information at the first time, so as to obtain a second electronic map.
According to the method provided by the embodiment of the disclosure, the vehicle-mounted terminal determines first posture change information of the vehicle based on the running environment information at the first moment and the second moment, determines second posture change information of the vehicle based on the running environment information at the first moment and the first electronic map, determines third posture change information of the vehicle based on the positioning device, and acquires target posture change information based on the first posture change information, the second posture change information and the third posture change information.
In one possible embodiment, acquiring target pose change information of the vehicle based on the third pose change information, the first pose change information, and the second pose change information includes:
and generating a pose change range of the vehicle based on the third pose change information, the first pose change information and the second pose change information.
And selecting pose change information of the target number from the pose change range, wherein the pose change range of the vehicle represents the possible pose change condition of the vehicle at the first moment.
Selecting a plurality of candidate pose change information from the pose change information of the target number, and determining first similarity information between each candidate pose information and the first pose information, second similarity information between each candidate pose information and the second pose information, and third similarity information between each candidate pose information and the third pose information.
And summing the first similarity information, the second similarity information and the third similarity information to obtain the similarity information sum of the alternative pose change information.
And determining the similarity information and the maximum candidate pose information as the target pose change information of the vehicle.
In one possible embodiment, determining first attitude change information of the vehicle according to the running environment information at a first time and the running environment information at a second time during running of the vehicle includes:
the method comprises the steps of determining at least one same first environment element in running environment information at a first moment and running environment information at a second moment, predicting first attitude information of a vehicle at the first moment based on the at least one same first environment element and second attitude information of the vehicle at the second moment, and determining first attitude change information of the vehicle based on the first attitude information and the second attitude information.
In one possible embodiment, determining second posture change information of the vehicle according to the driving environment information at the first time and the first electronic map comprises:
and comparing the running environment information at the first moment with the environment information in the first electronic map, determining at least one same second environment element, and determining third posture information of the vehicle at the first moment in the first electronic map based on the at least one same second environment element.
And determining second position change information of the vehicle based on the first position information and the third position information.
In a possible implementation manner, before the first electronic map is updated based on the object pose change information and the driving environment information at the first time to obtain the second electronic map, the method further includes:
and determining whether the target pose change information is greater than a pose change threshold, and executing the updating process of the first electronic map when the target pose change information is greater than the pose change threshold.
In a possible implementation manner, updating the first electronic map based on the object pose change information and the driving environment information at the first moment to obtain a second electronic map includes:
differential driving environment information that is not included in the first electronic map is acquired from the driving environment information at the first time.
And updating the first electronic map based on the difference driving environment information and the target pose information to obtain a second electronic map.
All the above optional technical solutions may be combined arbitrarily to form the optional embodiments of the present disclosure, and are not described herein again.
Fig. 2 is a flowchart of a method for generating an electronic map, provided in an embodiment of the present disclosure, and referring to fig. 2, the method includes:
in step S201, the in-vehicle terminal determines first attitude change information of the vehicle based on the running environment information at the first time and the running environment information at the second time during the running of the vehicle.
The first time is a map updating time after the second time, and the pose change information comprises position change information and posture change information of the vehicle, specifically, if the vehicle runs on a gentle road section, the position change of the vehicle can be regarded as two-dimensional, that is, the position change of the vehicle on a plane can be regarded as, and the posture change of the vehicle can only represent the heading of the vehicle on the plane; if the vehicle runs on a rugged road section, the position change of the vehicle can be considered to be three-dimensional, namely the vehicle has position change on a plane and also has position change in a direction vertical to the plane, correspondingly, the posture change of the vehicle needs to consider the situation vertical to the plane, the position change information of the vehicle is used for describing the position change of the vehicle, the position change actually converts the vehicle into a mass point, a coordinate system is established by taking an object other than the vehicle as a reference, and the position change of the vehicle is simplified into the position change of the mass point; the attitude change information of the vehicle is used to describe the attitude change of the vehicle, which is substantially described by the change situation of a coordinate system established on the vehicle, for example, a coordinate system can be established with the center of mass of the vehicle as the origin of coordinates, the coordinate system can be used as a reference coordinate system, when the attitude of the vehicle changes, the coordinate system also changes, a comparison coordinate system is obtained, and the attitude change information of the vehicle can be obtained based on the reference coordinate system and the comparison coordinate system.
In a possible implementation manner, the vehicle-mounted terminal may acquire the driving environment information during the driving process of the vehicle based on a sensing system of the vehicle, and specifically, the vehicle-mounted terminal may periodically send a driving environment information acquisition request to the sensing system of the vehicle, and after receiving the driving environment acquisition request, the sensing system of the vehicle invokes each sensor mounted on the vehicle to collect the environment information around the vehicle, fuse the collected environment information, and send the fused environment information to the vehicle-mounted terminal, where the fusion of the environment information may be implemented by using a multi-sensor information fusion (MSIF) technology, which is not limited in this disclosure. For example, one or more of a monocular camera, a binocular camera, a depth-image (RGB-D) camera, a panoramic camera, an event camera, and a lidar may be installed on the vehicle, and the sensing system of the vehicle may call one or more of the monocular camera, the binocular camera, the RGB-D camera, the panoramic camera, the event camera, and the lidar as a sensor for acquiring the driving environment information, and if a plurality of sensors are used to collect the environment information, the sensing system of the vehicle may fuse the environment information collected by the plurality of sensors based on the MSIF technology, and transmit the fused environment information to the vehicle-mounted terminal. The vehicle-mounted terminal can extract the characteristics of the received environment information, and extract the characteristics which are helpful for the vehicle-mounted terminal to position the vehicle and generate the electronic map, specifically, the vehicle-mounted terminal can extract the geometric characteristics of the reference object, the image characteristics of the environment image and the semantic characteristics of the environment information from the environment information, wherein the set characteristics of the reference object can be points with representative meanings on the reference object, such as: the corner point, the end point of the line segment or the point with the maximum local curvature on the curve; the extraction of the image features of the environment image may adopt scale-invariant feature transform (SIFT), a method for detecting and describing points of interest (speed up robust features, Surf) with scale and rotation invariant characteristics, and an algorithm for extracting and describing fast feature points (ordered cost and rotated robust index elementary features, ORB), which is not limited in this disclosure; the semantic features of the environment information may be categories used to describe the reference to which each data point in the environment information belongs.
In one possible implementation, the vehicle-mounted terminal may determine at least one same first environment element of the driving environment information at the first time and the driving environment information at the second time, predict first attitude information of the vehicle at the first time based on the at least one same first environment element and second attitude information of the vehicle at the second time, and determine first attitude change information of the vehicle based on the first attitude information and the second attitude information. Specifically, the driving environment information carries a large number of environment elements, the vehicle-mounted terminal can perform feature extraction and matching on the driving environment information at the first moment and the driving environment information at the second moment, determine at least one same first environment element in the driving environment information at the first moment and the driving environment information at the second moment based on the result of feature matching, establish a reference coordinate system by taking the geometric center or the centroid of the vehicle as an origin, map at least one same first environment element in the reference coordinate system at the first moment and the reference coordinate system at the second moment respectively, obtain the distance and the orientation of the environment element from the vehicle at the first moment and the second moment respectively, combine the distance and the orientation of the environment element from the vehicle at the first moment and the second moment respectively with the second attitude information of the vehicle at the second moment, predict the first attitude information of the vehicle at the first moment, first position change information of the vehicle is determined based on the first position information and the second position information. For example, as shown in fig. 3, after determining that the reference object shown in the drawing is the same first environment element, the vehicle-mounted terminal may project the reference object on the reference coordinate system of the vehicle at the second time and the reference coordinate system of the vehicle at the first time, obtain the relative pose change of the vehicle based on the coordinate change of the reference object in the two reference coordinate systems, predict the first pose information of the vehicle at the first time based on the relative pose change of the vehicle and the second pose information of the vehicle at the second time, and determine the first pose change information of the vehicle based on the first pose information and the second pose information. In practice, the on-board terminal may select a plurality of first environment elements to determine the first posture change information of the vehicle, and specifically, may sum and average a plurality of posture change system information of the vehicle determined based on the plurality of first environment elements, and use the average as the first posture change information. It should be noted that the vehicle-mounted terminal can determine the first posture change information of the vehicle in real time, so that the accuracy of generating the electronic map can be improved.
In step S202, the in-vehicle terminal determines second posture change information of the vehicle based on the driving environment information at the first time and the first electronic map, where the update time of the first electronic map is the second time.
The first electronic map and the second electronic map mentioned in the embodiments of the present disclosure are generated based on pose information and environment information during the driving process of the vehicle, that is, the first electronic map and the second electronic map each include pose information and driving environment information of a large number of vehicles at different times.
In one possible implementation, the vehicle-mounted terminal may compare the driving environment information at the first time with the driving environment information in the first electronic map, determine at least one same second environment element, and determine third posture information of the vehicle in the first electronic map at the first time based on the at least one same second environment element. And determining second position change information of the vehicle based on the first position information and the third position information. Specifically, the vehicle-mounted terminal may perform feature extraction and matching on the driving environment information at the first time and the form environment information in the first electronic map, determine at least one same second environment element in the electronic map and the driving environment information at the first time based on a result of the feature matching, and determine third posture information of the vehicle in the first electronic map based on the at least one same second environment element. And determining second position change information of the vehicle based on the first position information and the third position information, wherein the determination mode of the first position information is similar to that in the step S201 and is not repeated herein. It should be noted that the vehicle-mounted terminal may not determine the second posture change information of the vehicle in real time, but may determine the second posture change information of the vehicle periodically, so that the calculation amount of the vehicle-mounted terminal may be reduced, and the generation efficiency of the electronic map may be improved.
In step S203, the vehicle-mounted terminal generates a pose change range of the vehicle based on the third pose change information, the first pose change information, and the second pose change information, and selects pose change information of the target number from the pose change range.
The pose change range of the vehicle represents the possible pose change condition of the vehicle at the first moment, the third pose change information is the pose change information of the vehicle at the first moment and the second moment measured by a positioning device on the vehicle, and the positioning device can adopt a positioning device with lower precision so as to reduce the generation cost of the electronic map.
In a possible embodiment, the first posture change information of the vehicle determined by the vehicle-mounted terminal based on the sensor, the second posture change information of the vehicle determined by the sensor and the first electronic map, and the third posture change information of the vehicle measured by the sensor and the positioning device may be different, and at this time, the vehicle-mounted terminal may determine a posture change range of the vehicle based on the first posture change information, the second posture change information, and the third posture change information, and select a target number of posture change information from the posture change range, and specifically, the vehicle-mounted terminal may extract the first position change information, the second position change information, and the third position change information from the first position change information, the second position change information, and the third posture change information first, determine upper and lower limits of the position change information based on the first position change information, the second position change information, and the third position change information, and then extracting the first posture change information, the second posture change information and the third posture change information from the first posture change information, the second posture change information and the third posture change information, and determining the upper and lower limits of the posture change information based on the first posture change information, the second posture change information and the third posture change information. The upper and lower limits of the position change information and the upper and lower limits of the attitude change information constitute a pose change range of the vehicle. For example, if the pose change information is represented by a vector, for example, (1,2, 1,2,3,1), the first three numbers in the vector may represent the position change of the vehicle, the last three numbers may represent the pose change of the vehicle, and since the vector of 6 dimensions is relatively complicated, for easy understanding, the embodiment of the present disclosure takes a 2-dimensional vector as an example to illustrate how the vehicle-mounted terminal determines the pose change range of the vehicle, the first number may be (1,1), the second number may be (1,2), the third number may be (2,3), where the first number represents the position change information of the vehicle, and the second number represents the pose change information of the vehicle, the vehicle-mounted terminal may determine that the position change information of the vehicle ranges from 1 to 2, and the pose change information ranges from 1 to 3, the vehicle-mounted terminal determines the pose change range of the vehicle to be { (1,1), (1,2), (1,3), (2,1), (2,2), (2,3) }, and of course, for convenience of description, the pose change range is described as two integers, and in fact, a fraction and a decimal number may exist. The vehicle-mounted terminal can select vectors of the number of targets from the pose change range of the vehicle as pose change information, and if the number of the targets is 2, the vehicle-mounted terminal can select (1,3) and (2,1) as the pose change information. It should be noted that the specific vectors mentioned above are provided for easy understanding and are not meant to unduly limit the present disclosure.
In step S204, the in-vehicle terminal selects a plurality of candidate pose change information from the pose change information of the target number, and determines first similarity information between each candidate pose information and the first pose information, second similarity information between each candidate pose information and the second pose information, and third similarity information between each candidate pose information and the third pose information.
Specifically, if the in-vehicle terminal represents the pose change information of the vehicle in a vector, the in-vehicle terminal can represent the similarity information by calculating cosine similarity between the vectors.
For example, the candidate pose change information is (1,3) and (2,1), and the vehicle-mounted terminal may use (1,3) as the candidate pose change information and use the cosine similarity to represent the similarity information, that is, the greater the cosine similarity, the greater the similarity information of the two vectors is. The vehicle-mounted terminal can respectively calculate first similarity information between the alternative pose change information (1,3) and the first pose change information (1,1)
Alternative pose change information (1,3) and second pose changeSecond similarity information between the quantization information (1,2)
And third similarity information between the candidate pose change information (1,3) and the third pose change information (2,1)
In step S205, the vehicle-mounted terminal sums the first similarity information, the second similarity information, and the third similarity information to obtain a similarity information sum, and determines the similarity information sum and the maximum candidate pose information as the target pose change information of the vehicle.
In a possible implementation manner, the vehicle-mounted terminal may also perform weighted summation on the three pieces of similarity information based on the target weight to obtain weighted similarity information, and determine the similarity information and the maximum candidate pose information as target pose change information of the vehicle, where the target weight may be a weight set in advance based on the accuracy of the positioning device, and certainly may also be a weight determined by the vehicle-mounted terminal based on a deep learning model, which is not limited in this disclosure.
In step S206, the in-vehicle terminal determines whether the target pose change information is greater than a pose change threshold, and executes step S207 when the target pose change information is greater than the pose change threshold, otherwise re-executes step S201.
The pose change threshold value can be preset, or can be a pose change threshold value set by the vehicle-mounted terminal based on self calculation force.
According to the embodiment of the disclosure, whether the pose change of the vehicle is too small is judged by setting the pose change threshold, and the first electronic map is not updated when the pose change of the vehicle is too small, so that the situation that the map is updated based on each obtained pose change is avoided, the calculated amount is reduced in the process of generating the electronic map in real time, and the efficiency of generating the electronic map is improved.
In step S207, the vehicle-mounted terminal updates the first electronic map based on the object pose change information and the driving environment information at the first time, so as to obtain a second electronic map.
In one possible embodiment, the in-vehicle terminal may acquire the differential travel environment information that is not included in the first electronic map from the travel environment information at the first time. And updating the first electronic map based on the difference driving environment information and the target pose information to obtain a second electronic map. Specifically, the vehicle-mounted terminal may compare the running environment information at the first time with the running environment information included in the first electronic map based on the target pose change information, acquire differential running environment information, update the first electronic map based on the differential running environment information, and obtain the second electronic map, where the differential running information is composed of an additional environmental element in the environment information at the first time, the additional environmental element being actually an environmental element not included in the first electronic map determined from the running environment information at the first time with reference to the first electronic map, that is, when the target pose change information is greater than the pose change threshold, indicating that the pose change of the vehicle is large, and more environmental elements may be added in the environment information acquired by the sensor, the vehicle-mounted terminal may determine the pose change of the vehicle based on the target pose change information, and adding newly added environment elements in the pose change condition and the running environment information of the vehicle into the first electronic map to obtain a second electronic map.
According to the method provided by the embodiment of the disclosure, the vehicle-mounted terminal can fuse the first posture change information acquired by the sensor, the second posture change information acquired by the sensor and the generated first map and the second posture change information acquired by the positioning device in the vehicle running process to obtain the target posture change information.
Fig. 4 is a schematic structural diagram of an electronic map generating apparatus provided in an embodiment of the present disclosure, and referring to fig. 4, the apparatus includes a first determining module 401, a second determining module 402, an obtaining module 403, and an updating module 404.
The first determining module 401 is configured to determine first posture change information of the vehicle according to the running environment information at a first time and the running environment information at a second time in the running process of the vehicle, where the first time is a next map updating time of the second time.
The second determining module 402 is configured to determine second posture change information of the vehicle according to the driving environment information at the first time and the first electronic map, where an update time of the first electronic map is the second time.
An obtaining module 403, configured to obtain target pose change information of the vehicle based on third pose change information, the first pose change information, and the second pose change information, where the third pose change information is pose change information of the vehicle at a first time and a second time measured by a positioning device on the vehicle.
And the updating module 404 is configured to update the first electronic map based on the target pose change information and the driving environment information at the first moment to obtain a second electronic map.
In one possible implementation, the obtaining module includes:
and the generating unit is used for generating the pose change range of the vehicle based on the third pose change information, the first pose change information and the second pose change information.
The first selecting unit is used for selecting the pose change information of the target number from the pose change range, and the pose change range of the vehicle represents the possible pose change condition of the vehicle at the first moment.
And the second selection unit is used for selecting a plurality of candidate pose change information from the pose change information of the target number, and determining first difference information between each candidate pose information and the first pose information, second difference information between each candidate pose information and the second pose information, and third difference information between each candidate pose information and the third pose information.
And the first determining unit is used for summing the first difference information, the second difference information and the third difference information to obtain difference information sum, and determining the difference information sum and the minimum candidate pose information as the target pose change information of the vehicle.
In one possible implementation, the first determining module includes:
a second determination unit configured to determine at least one identical first environment element of the running environment information at the first time and the running environment information at the second time.
The prediction unit is used for predicting first position information of the vehicle at a first time based on at least one same first environment element and second position information of the vehicle at a second time.
And a third determination unit configured to determine first posture change information of the vehicle based on the first posture information and the second posture information.
In one possible embodiment, the second determination module determines the second posture change information of the vehicle according to the driving environment information at the first time and the first electronic map, and includes:
and a third determining unit for comparing the driving environment information at the first time with the environment information in the first electronic map and determining a plurality of identical second environment elements.
And the fourth determining unit is used for determining third posture information of the vehicle in the first electronic map at the first moment based on the plurality of same second environment elements.
And a fifth determining unit for determining second posture change information of the vehicle based on the first posture information and the third posture information.
In one possible embodiment, the apparatus further comprises:
and the third determining module is used for determining whether the target pose change information is greater than the pose change threshold value or not, and executing the updating process of the first electronic map when the target pose change information is greater than the pose change threshold value.
In one possible implementation, the update module includes:
an acquisition unit that acquires differential travel environment information that is not included in the first electronic map from the travel environment information at the first time.
And the updating unit is used for updating the first electronic map based on the difference driving environment information and the target pose information to obtain a second electronic map.
By the device provided by the embodiment of the disclosure, the vehicle-mounted terminal can fuse the first posture change information acquired by the sensor, the second posture change information acquired by the sensor and the generated first map and the second posture change information acquired by the positioning device in the vehicle running process to obtain the target posture change information.
It should be noted that: the electronic map generating device provided in the above embodiment is only illustrated by dividing the functional modules when generating the electronic map, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the embodiments of the method for generating an electronic map provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in detail in the embodiments of the method and are not described herein again.
Fig. 5 is a schematic structural diagram of an in-vehicle terminal according to an embodiment of the present disclosure. The in-vehicle terminal 500 may be: portable vehicle-mounted terminals, laptop vehicle-mounted terminals, desktop vehicle-mounted terminals, and the like.
Generally, the in-vehicle terminal 500 includes: one or more processors 501 and one or more memories 502.
The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 501 may be implemented in at least one hardware form of a DSP (digital signal processing), an FPGA (field-programmable gate array), and a PLA (programmable logic array). The processor 501 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 501 may be integrated with a GPU (graphics processing unit) which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 501 may further include an AI (artificial intelligence) processor for processing computing operations related to machine learning.
In some embodiments, the vehicle-mounted terminal 500 may further include: a peripheral interface 503 and at least one peripheral. The processor 501, memory 502 and peripheral interface 503 may be connected by a bus or signal lines. Each peripheral may be connected to the peripheral interface 503 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 504, a display screen 505, and a power supply 506.
The peripheral interface 503 may be used to connect at least one peripheral related to I/O (input/output) to the processor 501 and the memory 502. In some embodiments, the processor 501, memory 502, and peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or both of the processor 501, the memory 502, and the peripheral interface 503 may be implemented on separate chips or circuit boards, which are not limited by the embodiments of the present disclosure.
The radio frequency circuit 504 is used for receiving and transmitting RF (radio frequency) signals, also called electromagnetic signals. The radio frequency circuitry 504 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 504 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 504 may communicate with other in-vehicle terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (wireless fidelity) networks. In some embodiments, the radio frequency circuit 504 may further include NFC (near field communication) related circuits, which are not limited by the embodiments of the present disclosure.
The display screen 505 is used to display a UI (user interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 505 is a touch display screen, the display screen 505 also has the ability to capture touch signals on or over the surface of the display screen 505. The touch signal may be input to the processor 501 as a control signal for processing. At this point, the display screen 505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 505 may be one, and a front panel of the in-vehicle terminal 500 is provided; in other embodiments, the number of the display screens 505 may be at least two, and the at least two display screens are respectively disposed on different surfaces of the in-vehicle terminal 500 or are in a folding design; in still other embodiments, the display 505 may be a flexible display disposed on a curved surface or a folded surface of the in-vehicle terminal 500. Even more, the display screen 505 can be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The display screen 505 may be made of LCD (liquid crystal display), OLED (organic light-emitting diode), and other materials.
The power supply 506 is used to supply power to the respective components in the in-vehicle terminal 500. The power source 506 may be alternating current, direct current, disposable or rechargeable.
Those skilled in the art will appreciate that the configuration shown in fig. 5 is not intended to be limiting of the in-vehicle terminal 500 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be employed.
In an exemplary embodiment, there is also provided a computer-readable storage medium, such as a memory, including instructions executable by a processor to perform the method of generating an electronic map in the above embodiments. For example, the computer-readable storage medium may be a read-only memory (ROM), a Random Access Memory (RAM), a compact disc-read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing is considered as illustrative of the embodiments of the disclosure and is not to be construed as limiting thereof, and any modifications, equivalents, improvements and the like made within the spirit and principle of the disclosure are intended to be included within the scope of the disclosure.
Claims (8)
1. A method of generating an electronic map, the method comprising:
determining at least one same first environment element in running environment information at a first time and running environment information at a second time, predicting first attitude information of a vehicle at the first time based on the at least one same first environment element and second attitude information of the vehicle at the second time, and determining first attitude change information of the vehicle based on the first attitude information and the second attitude information, wherein the first time is a map updating time after the second time;
the method comprises the steps of extracting and matching characteristics of running environment information at a first moment and running environment information in a first electronic map, determining at least one same second environment element in the first electronic map and the running environment information at the first moment based on a characteristic matching result, determining third posture information of a vehicle in the first electronic map based on the at least one same second environment element, determining second posture change information of the vehicle based on the first posture information and the third posture information, and updating the first electronic map at a second moment;
generating a pose change range of the vehicle based on third pose change information, the first pose change information and the second pose change information; selecting pose change information of the target number from the pose change range, wherein the pose change range of the vehicle represents the possible pose change condition of the vehicle at the first moment; selecting a plurality of candidate pose change information from the pose change information of the target number, and determining first similarity information between each candidate pose information and the first pose information, second similarity information between each candidate pose information and the second pose information, and third similarity information between each candidate pose information and the third pose information; summing the first similarity information, the second similarity information and the third similarity information to obtain a similarity information sum of the alternative pose change information; determining the similarity information and the maximum candidate pose information as target pose change information of the vehicle, wherein the third pose change information is pose change information of the vehicle at the first moment and the second moment measured by a positioning device on the vehicle, and the positioning device is a low-precision positioning device;
and updating the first electronic map based on the target pose change information and the running environment information at the first moment to obtain a second electronic map.
2. The method for generating an electronic map according to claim 1, wherein before updating the first electronic map based on the target pose change information and the driving environment information at the first time and obtaining a second electronic map, the method further comprises:
and determining whether the target pose change information is greater than a pose change threshold, and executing the updating process of the first electronic map when the target pose change information is greater than the pose change threshold.
3. The method for generating an electronic map according to claim 1, wherein updating the first electronic map based on the target pose change information and the driving environment information at the first time to obtain a second electronic map includes:
acquiring differential driving environment information which is not contained in the first electronic map from the driving environment information at the first moment;
and updating the first electronic map based on the difference driving environment information and the target pose information to obtain the second electronic map.
4. An apparatus for generating an electronic map, the apparatus comprising:
the first determination module is used for determining at least one same first environment element in running environment information at a first moment and running environment information at a second moment, predicting first attitude information of the vehicle at the first moment based on the at least one same first environment element and second attitude information of the vehicle at the second moment, and determining first attitude change information of the vehicle based on the first attitude information and the second attitude information, wherein the first moment is a next map updating moment of the second moment;
the second determining module is used for extracting and matching the characteristics of the running environment information at the first moment and the running environment information in the first electronic map, determining at least one same second environment element in the first electronic map and the running environment information at the first moment based on the characteristic matching result, determining third posture information of the vehicle in the first electronic map based on the at least one same second environment element, determining second posture change information of the vehicle based on the first posture information and the third posture information, and updating the first electronic map at the second moment;
the acquisition module is used for generating a pose change range of the vehicle based on third pose change information, the first pose change information and the second pose change information; selecting pose change information of the target number from the pose change range, wherein the pose change range of the vehicle represents the possible pose change condition of the vehicle at the first moment; selecting a plurality of candidate pose change information from the pose change information of the target number, and determining first similarity information between each candidate pose information and the first pose information, second similarity information between each candidate pose information and the second pose information, and third similarity information between each candidate pose information and the third pose information; summing the first similarity information, the second similarity information and the third similarity information to obtain a similarity information sum of the alternative pose change information; determining the similarity information and the maximum candidate pose information as target pose change information of the vehicle, wherein the third pose change information is pose change information of the vehicle at the first moment and the second moment measured by a positioning device on the vehicle, and the positioning device is a low-precision positioning device;
and the updating module is used for updating the first electronic map based on the target pose change information and the running environment information at the first moment to obtain a second electronic map.
5. Apparatus for generating an electronic map according to claim 4, characterized in that it further comprises:
and the third determination module is used for determining whether the target pose change information is greater than a pose change threshold value or not, and executing the updating process of the first electronic map when the target pose change information is greater than the pose change threshold value.
6. The apparatus for generating an electronic map according to claim 4, wherein the update module includes:
an acquisition unit configured to acquire differential driving environment information that is not included in the first electronic map from the driving environment information at the first time;
and the updating unit is used for updating the first electronic map based on the difference driving environment information and the target pose information to obtain the second electronic map.
7. A computer device comprising one or more processors and one or more memories having stored therein at least one instruction, the instruction being loaded and executed by the one or more processors to implement the operations performed by the electronic map generation method of any of claims 1 to 3.
8. A computer-readable storage medium having at least one instruction stored therein, the instruction being loaded and executed by a processor to perform operations performed by the electronic map generation method of any one of claims 1 to 3.
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| CN201911176930.1A CN110954114B (en) | 2019-11-26 | 2019-11-26 | Method and device for generating electronic map, terminal and storage medium |
| PCT/CN2020/098281 WO2021103512A1 (en) | 2019-11-26 | 2020-06-24 | Method and apparatus for generating electronic map |
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| CN112068172A (en) * | 2020-09-08 | 2020-12-11 | 广州小鹏自动驾驶科技有限公司 | Vehicle positioning method and device |
| CN114485607B (en) * | 2021-12-02 | 2023-11-10 | 陕西欧卡电子智能科技有限公司 | Method, operation equipment, device and storage medium for determining motion trail |
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