CN112013845A - Fast map updating method, device and storage medium adapting to unknown dynamic space - Google Patents
Fast map updating method, device and storage medium adapting to unknown dynamic space Download PDFInfo
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Abstract
The invention discloses a quick map updating method and device adapting to an unknown dynamic space and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps: performing coordinate transformation on the currently acquired local map based on the receivable pose; respectively splicing to obtain a current archived map and a current planning map; the current archived map is used as the original archived map of the next frame; wherein: the archived map is a global map and is used for recording unmovable obstacles or unchanged parts in the environment; the current planning map is a global planning map or a local planning map, and is used for recording the current environment to be directly used for path planning. All maps set three logical values of space occupation characteristics: passage, unknown and obstacle. The method for separating the archived map from the current planning map is suitable for describing the dynamics and uncertainty of the environment and for rapidly establishing the map and planning in the unknown environment; the current planning graph can be directly used for local path correction and auxiliary track following control so as to realize obstacle avoidance.
Description
Technical Field
The present invention relates to the field of autopilot technology, and more particularly to a fast map updating method, apparatus and storage medium that accommodates unknown dynamic spaces.
Background
In unknown environments, vehicle positioning and map creation are both contradictory and related processes.
In a vision-based SLAM system:
(1) first, it is generally assumed that the environment is static and contains only fixed and rigid elements, whereas the environment actually contains moving elements, which would result in a false match, with unpredictable errors in the system as a result;
(2) second, the real world is visually repetitive. This makes it difficult to identify previously arrived scenes or large SLAMs;
(3) in addition, most of the maps generated by the visual SLAM are point cloud maps, and generally cannot be directly used for path planning.
In summary, it is difficult to create and update a current map in an unknown uncertain environment to synthesize an accurate map that can be directly used for path planning, and with the development of an automatic driving technology and application requirements, rapid map update in such an environment is a problem to be solved urgently, but an effective solution for such a situation is currently lacking.
Disclosure of Invention
Aiming at the problems and the defects in the related prior art, the invention provides a rapid map updating method, a rapid map updating device and a storage medium which are suitable for unknown dynamic space, wherein a filed map and a current planning map are spliced separately, and the rapid map updating method, the rapid map updating device and the storage medium are particularly suitable for describing the dynamics and the uncertainty of the environment and are suitable for rapidly establishing a map and planning in an unknown environment; the current planning graph obtained by splicing can be directly used for local path correction and auxiliary track following control so as to realize obstacle avoidance and improve the efficiency of map updating in an uncertain environment in an unknown dynamic space.
In order to realize the purpose of the invention, the following technical scheme is adopted:
a fast map update method to accommodate unknown dynamic spaces, comprising the steps of:
performing coordinate transformation on the currently acquired local map based on the receivable pose;
according to the local map after coordinate transformation, combining with the original archived map, respectively splicing to obtain a current archived map and a current planning map; the current archived map is used as the original archived map of the next frame;
wherein: the archived map is a global map and is used for recording unmovable obstacles or unchanged parts in the environment; the current planning map is a global planning map or a local planning map, and is used for recording the current environment to be directly used for path planning.
Further, three space occupation characteristic logic values are set for the original archived map and the currently acquired local map: passage, unknown, obstacle for piecing together; simultaneously recording the currently acquired local map of the first frame as an original archived map;
the current archived map is spliced by adopting a logic operation method or a fading algorithm according to the original archived map and the space occupation characteristics of the currently acquired local map, and the splicing logic is to record the trafficability of corresponding points in history;
the current planning graph is formed by splicing an original archived map and the space occupation characteristics of a currently acquired local map by adopting a logic operation method, wherein the splicing logic is used for expressing the barrier probability of a corresponding point.
Further, the logical operation method combination comprises the following steps:
and according to the position after coordinate transformation, carrying out logical AND and or operation on the space occupation characteristic logical values of the points in the local map and the space occupation characteristic logical values of the points in the original archived map one by one:
when the current filed map is spliced, the original filed map in the spaceThe passing point in the local map or the passing point in the currently acquired local map is marked as the passing point of the currently archived map,if a certain point belongs to the original archived map and the currently acquired local map All properties are unknown points and are marked as unknown points in the current archived map,other points are marked as barrier points of the current archived map; the current archived map is used as the original archived map when the next frame is calculated;
when the current planning map is spliced, the passing points in the currently acquired local map are recorded as the passing points of the current planning map, the obstacle points in the currently acquired local map are recorded as the obstacle points of the current planning map, the unknown points in the currently acquired local map and the points outside the local map inherit the attributes in the original archived map, wherein the points which are unknown in the original archived map and are also unknown in the currently acquired local map are processed according to the passable points.
Further, the fading algorithm amalgamation comprises the following steps:
the values of all points in the space correspond to numbers between 0 and 1, wherein [0, a ] represents passing, [1-a, 1] represents obstacle, the numbers between (a, 1-a) represent unknown, and 0< a < 0.5;
in the currently acquired local map, a passable point is marked as 0, an obstacle is marked as 1, and other points are marked as 0.5;
weighting the currently acquired local map and the original archived map, wherein corresponding weighting coefficients are 2a and 1-2a respectively, obtaining new point parameters which are recorded as parameter values of the middle point of the currently archived map, and judging the space occupation characteristics of the currently archived map according to the parameter values; the current archived map serves as the original archived map at the time of the next frame calculation.
Further, the acquirable pose is derived from data acquired by a sensor and is calculated to obtain a result, and the calculation comprises one or more of IMU integration, SLAM pose settlement, GNSS filtering calculation and odometer integration/difference; or
And processing data obtained from various sensors by a pose fusion algorithm to obtain a result, wherein the pose fusion algorithm comprises a combined navigation algorithm and/or a Visual Inertial Odometer (VIO) algorithm.
A fast map update apparatus that accommodates unknown dynamic spaces, comprising:
the transformation module is used for carrying out coordinate transformation on the currently acquired local map through the receivable pose; and
the splicing module is used for respectively splicing the current archived map and the current planning map according to the local map after the coordinate transformation and by combining the original archived map; the current archived map is used as the original archived map of the next frame;
wherein: the archived map is a global map and is used for recording unmovable obstacles or unchanged parts in the environment; the current planning map is a global planning map or a local planning map, and is used for recording the current environment to be directly used for path planning.
Further, a split module, comprising:
the setting unit is used for setting three space occupation characteristic logic values for the original archived map and the currently acquired local map: passage, unknown, obstacle for piecing together; simultaneously recording the currently acquired local map of the first frame as an original archived map;
the first splicing unit is used for splicing and forming the current archived map by adopting a logic operation method or a fading algorithm according to the original archived map set by the setting unit and the space occupation characteristic of the currently acquired local map, and the splicing logic is that the trafficability of corresponding points in history is recorded;
the second splicing unit is used for splicing and forming a current planning map by adopting a logical operation method according to the original archived map set by the setting unit and the space occupation characteristics of the currently acquired local map; the split logic consists in expressing the obstacle probability of the corresponding point.
Further, the first splicing unit is used for performing logical and or operation on the logical values of the space occupation characteristics of the points in the local map and the logical values of the space occupation characteristics of the points in the original archived map one by one to obtain a current archived map, and taking the current archived map as the original archived map when calculating the next frame; wherein, the passing point in the original file map in the space or the currently acquired local mapThe transit points are all recorded as the transit points of the currently archived map,if a certain point exists originally If the attributes in the archive map and the currently acquired local map are unknown points, the attributes are marked as unknown points in the currently archived map,the other points are marked as obstacle points of the current archived map.
Further, the first splicing unit is used for corresponding the values of all points in the space to numbers between 0 and 1, wherein [0, a ] represents passing, [1-a, 1] represents obstacle, the numbers between (a, 1-a) represent unknown, and 0< a < 0.5; and the method is used for recording the passable point as 0, the obstacle as 1 and other points as 0.5 in the currently acquired local map; and the method is used for weighting the currently acquired local map and the original archived map, wherein corresponding weighting coefficients are respectively 2a and 1-2a, new point parameters are obtained and recorded as parameter values of the middle point of the currently archived map, the space occupation characteristic of the currently archived map is judged according to the parameter values so as to complete the splicing of the currently archived map through a fading algorithm, and the currently archived map is used as the original archived map during the next frame of calculation.
Further, the second splicing unit is used for performing logical AND and or operation on the logical values of the space occupation characteristics of the points in the local map and the logical values of the space occupation characteristics of the points in the original archived map one by one to splice and obtain the current planning map; the method comprises the steps of obtaining a local map, acquiring a current planning map, acquiring an unknown point in the local map, and acquiring a current planning map, wherein the current passing point in the currently acquired local map is recorded as a passing point of the current planning map, the obstacle point in the currently acquired local map is recorded as an obstacle point of the current planning map, the unknown point in the currently acquired local map and a point outside the local map inherit attributes in an original archived map, and the unknown point in the original archived map and the unknown point in the currently acquired local map are processed according to a passable point.
A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, controls an apparatus in which the storage medium is located to perform a fast graph updating method that adapts to an unknown dynamic space.
The invention has the beneficial effects that:
1) the method comprises the steps of updating a filed map and a current planning map separately, and respectively using the filed map and the current planning map for memory filing and real-time path planning, wherein the method is particularly suitable for describing the dynamics and uncertainty of the environment, rapidly establishing the map in an unknown environment and simultaneously performing path planning;
2) the current planning graph obtained by splicing can be further directly used for local path correction and auxiliary track following control so as to realize obstacle avoidance.
Drawings
Fig. 1 is a flowchart illustrating an updating method according to an embodiment of the present invention.
Fig. 2 is a data control flow diagram according to an embodiment of the present invention.
Fig. 3 is a data control flow diagram of a pose source for map building according to an embodiment of the present invention.
Fig. 4 is a block diagram of an update apparatus according to an embodiment of the present invention.
FIG. 5 is a block diagram of a split module configuration according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings, but the described embodiments of the present invention are a part of the embodiments of the present invention, not all of the embodiments of the present invention.
Example one
The embodiment provides a quick map updating method adaptive to an unknown dynamic space, which is used for improving the map updating efficiency in the unknown dynamic space under the uncertain environment.
As shown in FIGS. 1-2, the method of the present embodiment comprises the following steps:
and 101, introducing the position and pose capable of acquiring information to perform coordinate transformation on the currently acquired local map.
Coordinate transformation, specifically, P = P0+R'(Ω)*PtWhere P is the global position coordinate of a point, P0Is the coordinate of the origin of the local map in the global map, R' (Ω) is the transpose of the direction cosine matrix of the attitude angle Ω, representing the rotational projection of the local map onto the global map, PtIs the coordinate of an arbitrary point in the local map.
FIG. 3 is a data control flow graph of pose sources for map construction.
The receivable pose can be a result obtained by certain operation after being directly obtained by various sensors or a comprehensive result obtained after pose fusion processing.
The receivable pose is derived from data acquired by a sensor and is calculated according to a result obtained by calculating the data, and the calculation comprises IMU integration, SLAM pose settlement, GNSS filtering calculation, odometer integration/difference and the like.
Or the data obtained by various sensors can be obtained as a result after being processed by a pose fusion algorithm, wherein the pose fusion algorithm comprises a combined navigation algorithm, a Visual Inertial Odometer (VIO) algorithm and the like.
And then respectively splicing the current archived map and the current planning map. Wherein, the archived map focuses on recording the trafficability, the obstacles recorded in the map are immovable obstacles, and if the obstacle position changes, only the unchanged part is recorded; the planning graph focuses on describing the unvarying areas at the present time.
Specifically, the archived map is a global map used for recording unmovable obstacles or parts of the environment which have not changed.
Specifically, the current planning map is a global planning map or a local planning map used to record the current environment for direct use in path planning.
For points in the two types of maps, a map matching algorithm is filed, and the logic records the trafficability of the point in history; the current planning chart is a split algorithm, and the logic is to express the current obstacle probability of the point.
And step 102, splicing the current archived map.
The space occupation characteristics of all maps can be described as three types of traffic, barrier and unknown.
Currently archived maps are used to record portions of an immovable obstacle or environment that have not changed.
Current archived map stitching methods may employ fading algorithms or logical algorithms.
Specifically, the fading algorithm comprises the following steps:
1) defining the space occupation characteristic value of a point in a currently acquired local map, wherein the values of the pass, the unknown and the obstacle are respectively as follows:
passing: v is more than or equal to 0p≤a
Unknown: a is<Vp<1-a
Disorder: v is more than or equal to 1-ap≤1
Wherein a satisfies 0< a < 0.5. The currently acquired local map of the first frame is also marked as the original archived map.
2) The value of the space occupation characteristic of a point in the original archived map is denoted as V0Weighting the space occupation characteristic values of the points in the local map one by one according to the positions after coordinate transformation, updating the space occupation characteristic values, and meeting the following requirements:
V=(1-2a)* V0 +2a* Vp。
3) and recording the space occupation characteristic value of the point in the obtained map as an original archived map during the next calculation. The space occupation characteristic of the currently archived map is determined based on the V value as defined in 1).
4) Repeating the steps 2) -3) every time the archived map is updated online.
Specifically, the logic operation method for the pieced-together archived map comprises the following steps:
1) three logical values of space usage characteristics defining a point in the currently acquired local map: passage, unknown and obstacle; the currently acquired local map of the first frame is also marked as the original archived map.
2) According to the position after coordinate transformation, carrying out AND and OR operation on the space occupation characteristic logical values of the points in the local map and the space occupation characteristic logical values of the points in the original archived map one by one, specifically: in the space, the passing point in the original archived map or the passing point in the currently acquired local map are both recorded as the passing point of the current archived map, the unknown point in the original archived map and the unknown point in the currently acquired local map are recorded as the unknown point of the current archived map, and other points are recorded as the obstacle points of the current archived map.
The space usage characteristics of points in the updated current archived map can be summarized in table 1.
3) And recording the space occupation characteristic value of the point in the obtained map as an original archived map during the next calculation.
4) Repeating the steps 2) -3) every time the archived map is updated online.
And 103, splicing the current planning graph while splicing the archived map.
The current planning map can be a global map or a local map, and the current environment is recorded in the map and can be directly used for path planning. The split algorithm is a logical operation.
Specifically, the logic operation method for splicing the current planning diagram comprises the following steps:
1) three logical values of space usage characteristics defining a point in the currently acquired local map: and (4) traffic, unknown and obstacle, wherein the local map currently acquired by the first frame is also recorded as an original archived map.
2) According to the position after coordinate transformation, carrying out AND and OR operation on the space occupation characteristic logical values of the points in the local map and the space occupation characteristic logical values of the points in the original archived map one by one, specifically: and the passing points in the currently acquired local map are recorded as the passing points of the current planning map, the barrier points in the currently acquired local map are recorded as the barrier points of the current planning map, the unknown points in the currently acquired local map and the points outside the local map inherit the attributes in the original archived map, and the points which are unknown in the original archived map and are also unknown in the currently acquired local map are processed according to the passable points.
The space usage characteristics of the points in the current planning map obtained by stitching can be summarized in table 2.
Example two
The present example provides a fast map update apparatus that accommodates unknown dynamic spaces.
As shown in fig. 4, the updating apparatus of the present example includes a transformation module and a splicing module. The transformation module is connected with the splicing module.
Specifically, the transformation module is used for carrying out coordinate transformation on the currently acquired local map through the receivable pose; the splicing module is used for respectively splicing a current archived map and a current planning map according to the local map after coordinate transformation and by combining the original archived map; the current archived map is used as the original archived map of the next frame; wherein: the archived map is a global map used for recording immovable obstacles or parts which do not change in the environment; the current planning map is a global planning map or a local planning map for recording the current environment for direct use in path planning.
The receivable pose cited by the transformation module can be a result obtained by certain operation after being directly obtained by various sensors or a comprehensive result obtained after pose fusion processing.
As shown in fig. 3, optionally, the receivable poses can be obtained from various sensors and directly acquired, and then integrated and calculated; the position and pose of the receivable message can also be derived from SLAM positioning and solved together with the map. The position and pose of the collected information can be obtained by various technical means, and the position and pose are subjected to proper position and pose fusion processing, and finally the obtained comprehensive result is used as the position and pose of the collected information.
Specifically, as shown in fig. 5, the split module includes: the setting unit, and with first amalgamation unit and the second amalgamation unit that the setting unit is connected.
Specifically, the setting unit is configured to set three types of logical values of the space occupation characteristics for the original archived map and the currently acquired local map: passage, unknown, obstacle for piecing together; and simultaneously recording the local map currently acquired by the first frame as an original archived map.
Specifically, the first splicing unit is used for splicing and forming the current archived map by adopting a logic operation method or a fading algorithm according to the original archived map set by the setting unit and the space occupation characteristics of the currently acquired local map, and the splicing logic is to record the trafficability of the corresponding point in history.
Specifically, the second splicing unit is used for splicing and forming a current planning map by adopting a logical operation method according to the original archived map set by the setting unit and the space occupation characteristics of the currently acquired local map; the split logic consists in expressing the obstacle probability of the corresponding point.
And after the transformation module completes the coordinate transformation, the synthesis module performs the splicing of the current archived map and the current planning purpose.
Current archived map stitching by the composition module:
for points in the two types of maps, a map matching algorithm is filed, and the logic records the trafficability of the point in history; the current planning chart is a split algorithm, and the logic is to express the current obstacle probability of the point.
The first splicing unit may employ a logic algorithm to splice:
carrying out logical AND and or operation on the logical values of the space occupation characteristics of the points in the local map and the logical values of the space occupation characteristics of the points in the original archived map one by one to splice and obtain the current archived map; taking the current archived map as the original archived map during the calculation of the next frame; the passing point in the original archived map or the passing point in the currently acquired local map in the space is marked as the passing point of the currently archived map, the unknown point in the original archived map and the unknown point in the currently acquired local map are marked as the unknown point of the currently archived map, and other points are marked as the obstacle points of the currently archived map.
The logic of the space occupation characteristics of the points in the current archived map obtained by splicing is shown in table 1.
The first splicing unit can also splice by adopting a fading algorithm:
the values of all points in the space correspond to numbers between 0 and 1, wherein [0, a ] represents passing, [1-a, 1] represents obstacle, the numbers between (a, 1-a) represent unknown, and 0< a < 0.5;
recording the passable point as 0, the obstacle as 1 and other points as 0.5 in the currently acquired local map; the local map and the original archived map are weighted, corresponding weighting coefficients are respectively 2a and 1-2a, and new point parameters are obtained and recorded as parameter values of the middle point of the current archived map;
and judging the space occupation characteristic of the current archived map according to the parameter value so as to complete the splicing of the current archived map through a fading algorithm, and taking the current archived map as the original archived map during the calculation of the next frame.
Current planning graph stitching by the composition module:
the second splicing unit performs logical AND and or operation on the logical values of the space occupation characteristics of the points in the local map and the logical values of the space occupation characteristics of the points in the original archived map one by one to splice to obtain a current planning map; the method comprises the steps of obtaining a local map, acquiring a current planning map, acquiring an unknown point in the local map, and acquiring a current planning map, wherein the current passing point in the currently acquired local map is recorded as a passing point of the current planning map, the obstacle point in the currently acquired local map is recorded as an obstacle point of the current planning map, the unknown point in the currently acquired local map and a point outside the local map inherit attributes in an original archived map, and the unknown point in the original archived map and the unknown point in the currently acquired local map are processed according to a passable point.
The logic for obtaining the space occupation characteristics of the points in the current planning map by splicing is shown in table 2.
EXAMPLE III
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, controls an apparatus in which the storage medium is located to perform the fast graph updating method of the above embodiments that accommodates unknown dynamic spaces.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it is apparent that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A fast map update method to accommodate unknown dynamic spaces, comprising the steps of:
performing coordinate transformation on the currently acquired local map based on the receivable pose;
according to the local map after coordinate transformation, combining with the original archived map, respectively splicing to obtain a current archived map and a current planning map; the current archived map is used as the original archived map of the next frame;
wherein: the archived map is a global map and is used for recording unmovable obstacles or unchanged parts in the environment; the current planning map is a global planning map or a local planning map, and is used for recording the current environment to be directly used for path planning.
2. The fast map updating method for adapting to unknown dynamic space according to claim 1, wherein:
setting three space occupation characteristic logic values for an original archived map and a currently acquired local map: passage, unknown, obstacle for piecing together; simultaneously recording the currently acquired local map of the first frame as an original archived map;
the current archived map is spliced by adopting a logic operation method or a fading algorithm according to the original archived map and the space occupation characteristics of the currently acquired local map, and the splicing logic is to record the trafficability of corresponding points in history;
the current planning graph is formed by splicing an original archived map and the space occupation characteristics of a currently acquired local map by adopting a logic operation method, wherein the splicing logic is used for expressing the barrier probability of a corresponding point.
3. The fast map updating method for adapting to unknown dynamic space according to claim 2, wherein: a logical algorithm mosaic comprising the steps of:
and according to the position after coordinate transformation, carrying out logical AND and or operation on the space occupation characteristic logical values of the points in the local map and the space occupation characteristic logical values of the points in the original archived map one by one:
when the current archived map is pieced together, the passing point in the original archived map or the passing point in the currently acquired local map in the space are both marked as the passing point of the current archived map,if a certain point belongs to the original archived map and the currently acquired local map All properties are unknown points and are marked as unknown points in the current archived map,other points are marked as barrier points of the current archived map; the current archived map is used as the original archived map when the next frame is calculated;
when the current planning map is spliced, the passing points in the currently acquired local map are recorded as the passing points of the current planning map, the obstacle points in the currently acquired local map are recorded as the obstacle points of the current planning map, the unknown points in the currently acquired local map and the points outside the local map inherit the attributes in the original archived map, wherein the points which are unknown in the original archived map and are also unknown in the currently acquired local map are processed according to the passable points.
4. The fast map updating method of adapting to unknown dynamic space according to claim 2, wherein the fading algorithm is amalgamated, comprising the steps of:
the values of all points in the space correspond to numbers between 0 and 1, wherein [0, a ] represents passing, [1-a, 1] represents obstacle, the numbers between (a, 1-a) represent unknown, and 0< a < 0.5;
in the currently acquired local map, a passable point is marked as 0, an obstacle is marked as 1, and other points are marked as 0.5;
weighting the currently acquired local map and the original archived map, wherein corresponding weighting coefficients are 2a and 1-2a respectively, obtaining new point parameters which are recorded as parameter values of the middle point of the currently archived map, and judging the space occupation characteristics of the currently archived map according to the parameter values; the current archived map serves as the original archived map at the time of the next frame calculation.
5. The method for rapidly updating the map of the unknown dynamic space according to claim 1, wherein the position and pose are derived from data obtained by a sensor and are calculated according to the result obtained by calculating one or more of IMU integral, SLAM position settlement, GNSS filtering calculation and odometer integral/difference; or
And processing data obtained from various sensors by a pose fusion algorithm to obtain a result, wherein the pose fusion algorithm comprises a combined navigation algorithm and/or a Visual Inertial Odometer (VIO) algorithm.
6. A fast map update apparatus that accommodates unknown dynamic spaces, comprising:
the transformation module is used for carrying out coordinate transformation on the currently acquired local map through the receivable pose; and
the splicing module is used for respectively splicing the current archived map and the current planning map according to the local map after the coordinate transformation and by combining the original archived map; the current archived map is used as the original archived map of the next frame;
wherein: the archived map is a global map and is used for recording unmovable obstacles or unchanged parts in the environment; the current planning map is a global planning map or a local planning map, and is used for recording the current environment to be directly used for path planning.
7. The apparatus of claim 1, wherein the tiling module comprises:
the setting unit is used for setting three space occupation characteristic logic values for the original archived map and the currently acquired local map: passage, unknown, obstacle for piecing together; simultaneously recording the currently acquired local map of the first frame as an original archived map;
the first splicing unit is used for splicing and forming the current archived map by adopting a logic operation method or a fading algorithm according to the original archived map set by the setting unit and the space occupation characteristic of the currently acquired local map, and the splicing logic is that the trafficability of corresponding points in history is recorded;
the second splicing unit is used for splicing and forming a current planning map by adopting a logical operation method according to the original archived map set by the setting unit and the space occupation characteristics of the currently acquired local map; the split logic consists in expressing the obstacle probability of the corresponding point.
8. The apparatus of claim 7,
the first splicing unit is used for carrying out logical AND and or operation on the space occupation characteristic logical values of the points in the local map and the space occupation characteristic logical values of the points in the original archived map one by one to obtain a current archived map, and using the current archived map as the original archived map during calculation of the next frame; wherein, the passing point in the original file map or the passing point in the local map acquired currently are marked as the passing point of the current file map,if a certain point is on the original archived map and if the attributes in the previously acquired local map are all unknown points, the attributes are marked as the unknown points in the current archived map,other points are marked as barrier points of the current archived map;
the second splicing unit is used for performing logical AND and or operation on the space occupation characteristic logical values of the points in the local map and the space occupation characteristic logical values of the points in the original archived map one by one to splice and obtain the current planning map; the method comprises the steps of obtaining a local map, acquiring a current planning map, acquiring an unknown point in the local map, and acquiring a current planning map, wherein the current passing point in the currently acquired local map is recorded as a passing point of the current planning map, the obstacle point in the currently acquired local map is recorded as an obstacle point of the current planning map, the unknown point in the currently acquired local map and a point outside the local map inherit attributes in an original archived map, and the unknown point in the original archived map and the unknown point in the currently acquired local map are processed according to a passable point.
9. The apparatus of claim 7, wherein the first splicing unit is configured to take values of all points in the space corresponding to a number between 0 and 1, where [0, a ] represents passing, [1-a, 1] represents obstacle, and the number between (a, 1-a) represents unknown, and 0< a < 0.5; and the method is used for recording the passable point as 0, the obstacle as 1 and other points as 0.5 in the currently acquired local map; and the method is used for weighting the currently acquired local map and the original archived map, wherein corresponding weighting coefficients are respectively 2a and 1-2a, new point parameters are obtained and recorded as parameter values of the middle point of the currently archived map, the space occupation characteristic of the currently archived map is judged according to the parameter values so as to complete the splicing of the currently archived map through a fading algorithm, and the currently archived map is used as the original archived map during the next frame of calculation.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, controls an apparatus in which the storage medium is located to perform the fast map updating method for adapting to an unknown dynamic space according to any one of claims 1 to 5.
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