CN113720325A - Environment change detection method and device, electronic equipment and computer storage medium - Google Patents
Environment change detection method and device, electronic equipment and computer storage medium Download PDFInfo
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Abstract
An embodiment of the application provides an environmental change detection method, an electronic device, a storage medium and a computer program product, wherein the environmental change detection method includes: the method comprises the steps of collecting real-time point cloud data of a physical environment where a vehicle is located, updating the environmental characteristics of voxels in a historical vertical distribution information map corresponding to the physical environment according to the real-time point cloud data, and obtaining a real-time vertical distribution information map, wherein the vertical distribution information map comprises the following components: the method comprises the following steps that a grid map, a plurality of voxels in a vertical direction in a geographic region corresponding to each grid in the grid map and environmental characteristics of each voxel are obtained; determining voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information map and a prior vertical distribution information map corresponding to a preset geographic range to which the physical environment belongs; and determining the change of the physical environment according to the change of the environment characteristic corresponding to the voxel. The scheme provided by the embodiment can directly determine the physical environment change in the three-dimensional space, and has high accuracy.
Description
Technical Field
The embodiment of the application relates to the field of electronic maps, in particular to an environmental change detection method and device, electronic equipment and a computer storage medium.
Background
With the popularization of intelligent transportation, an automatic driving technology or an intelligent driving assistance technology has become a popular research direction.
Generally, automatic driving or intelligent auxiliary driving needs to rely on a map, especially a high-precision map, to realize positioning of a vehicle and perform vehicle navigation. For example, when positioning a vehicle, the position of the vehicle is calculated from the acquired fixed objects around the vehicle and the fixed objects in the map.
However, the physical environment may vary in the fixtures, such as buildings, signs, etc. If the stationary object information in the map is not updated in time with changes in the stationary object in the physical environment, the map-based positioning accuracy may be affected, or the vehicle navigation situation may be affected.
Therefore, the technical problem to be solved in the prior art is how to detect the change of the physical environment.
Disclosure of Invention
In view of the above, embodiments of the present application provide an environmental change detection scheme to at least partially solve the above problems.
According to a first aspect of embodiments of the present application, there is provided an environmental change detection method, including: the method comprises the steps of collecting real-time point cloud data of a physical environment where a vehicle is located, updating the environment characteristics of voxels in a historical vertical distribution information map corresponding to the physical environment according to the real-time point cloud data, and obtaining a real-time vertical distribution information map, wherein the vertical distribution information map comprises the following steps: the method comprises the following steps of (1) obtaining a grid map, a plurality of voxels in a vertical direction in a geographic region corresponding to each grid in the grid map, and environmental characteristics of each voxel; determining voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information map and a prior vertical distribution information map corresponding to a preset geographic range to which the physical environment belongs; and determining the change of the physical environment according to the change of the environment characteristic corresponding to the voxel.
According to a second aspect of embodiments of the present application, there is provided an electronic apparatus, including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the environment change detection method.
According to a third aspect of embodiments of the present application, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the environmental change detection method as described above.
According to a fourth aspect of embodiments of the present application, there is provided a computer program product including computer instructions for instructing a computing device to perform operations corresponding to the environmental change detection method as described above.
According to the environment change detection scheme provided by the embodiment of the application, the three-dimensional space can be expressed through the grid map and the environment characteristics of the voxels and voxels in the vertical distribution information map, and the real-time vertical distribution information map can be more accurately obtained by updating the historical vertical distribution information map through the real-time point cloud data; by comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, the voxel with changed environmental characteristics can be determined, and then the physical environmental change in the three-dimensional space can be directly determined according to the environmental characteristic change corresponding to the voxel, and the accuracy is high.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1A is a flowchart illustrating steps of a method for detecting environmental changes according to an embodiment of the present disclosure;
FIG. 1B is a schematic diagram of a vertical distribution information map;
FIG. 1C is a diagram illustrating an example of a scenario in the embodiment shown in FIG. 1A;
FIG. 2A is a flowchart illustrating steps of a method for detecting environmental changes according to a second embodiment of the present disclosure;
FIG. 2B is a schematic flow chart illustrating another method for detecting environmental changes according to the second embodiment of the present disclosure;
FIG. 2C is a flow chart illustrating a process for updating a data distribution information graph in the embodiment shown in FIG. 2A;
FIG. 2D is a diagram illustrating a history change information map in the embodiment of FIG. 2A;
FIG. 2E is a schematic diagram of a process for determining a change in physical environment in the embodiment of FIG. 2A;
FIG. 2F is a diagram illustrating a real-time change information map in the embodiment of FIG. 2A;
fig. 3 is a block diagram of an environment change detection apparatus according to a third embodiment of the present application;
fig. 4 is a block diagram of an environment change detection apparatus according to a fourth embodiment of the present application;
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.
The following further describes specific implementations of embodiments of the present application with reference to the drawings of the embodiments of the present application.
Example one
Fig. 1A is a schematic flowchart of an environmental change detection method according to the present application, and as shown in the figure, the method includes:
s101, collecting real-time point cloud data of a physical environment where a vehicle is located, updating the environment characteristics of voxels in a historical vertical distribution information map corresponding to the physical environment according to the real-time point cloud data, and obtaining a real-time vertical distribution information map.
The scheme provided by the embodiment can be used for an automatic driving scene and can also be used for an auxiliary driving scene, and the embodiment does not limit the situation.
In this embodiment, the real-time point cloud data may be acquired by a vehicle-mounted sensor on the vehicle. Any sensor capable of collecting environmental information, such as a lidar, may be included on the vehicle. According to the environmental information acquired by the vehicle-mounted sensor of the vehicle, the real-time point cloud data of the physical environment where the vehicle is located can be acquired, and the real-time point cloud data can reflect the information of objects included in the three-dimensional space of the physical environment. The method for obtaining real-time point cloud data refers to the related art, and this embodiment is not described herein again.
According to the real-time point cloud data, the historical vertical distribution information map can be updated, and the real-time vertical distribution information map is obtained.
The vertical distribution information map in this embodiment includes: the grid map, a plurality of voxels in the vertical direction in the geographic region corresponding to each grid in the grid map, and the environmental characteristics of each voxel.
In this embodiment, the grid map is a two-dimensional map, the grids in the grid map may be used to represent physical positions of the geographic area on a horizontal plane, and the environmental features of a plurality of voxels in a vertical direction in the geographic area corresponding to each grid in the grid map may be used to express whether the physical position represented by the voxel includes a fixture. Fixtures are objects that can be used for vehicle positioning, such as buildings, billboards, and the like. The three-dimensional space can be expressed in a map mode by combining a grid map and voxels.
In this embodiment, the grid map may be the same as the map used for positioning, such as a high-precision map, in horizontal coverage and grid division.
In addition, because the real-time point cloud data of an area which is shielded by a building and is close to or far away from a vehicle is incomplete, the point cloud cannot completely represent the corresponding environment, in this embodiment, the environment features of voxels in the historical vertical distribution information map corresponding to the physical environment are updated according to the acquired real-time point cloud data, so that the acquired real-time point cloud data and the data in the historical vertical distribution information map are combined, and the acquired data in the real-time vertical distribution information map is more complete.
For example, as shown in the left area of fig. 1B, a grid map including a plurality of grids may be included in the vertical distribution information map.
The middle region of fig. 1B exemplarily shows a plurality of voxels in the vertical direction within the geographic region corresponding to one grid. The height corresponding to each voxel may be the same, for example, the height of each voxel may be 50 cm; the elevation of a voxel may be determined from the Base elevation. In the vertical distribution information map, the voxels may be divided by layers, for example two layers of voxels are shown as an example in fig. 1B, each layer may include 8 voxels.
As shown in fig. 1B, each voxel may correspond to 1bit for storing the environmental characteristics of the voxel. For example, "0" shown in fig. 1B indicates that the environmental feature of the voxel is the absence of a fixture, and "1" indicates that the environmental feature of the voxel is the presence of a fixture.
S102, determining voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information graph and the prior vertical distribution information graph corresponding to the preset geographic range to which the physical environment belongs.
In this embodiment, the prior vertical distribution information map may be a vertical distribution information map generated in advance according to acquired data of a building or the like. The content included in the prior vertical distribution information map is the same as the vertical distribution information map, and is not described herein again.
S103, determining the change of the physical environment according to the change of the environment characteristic corresponding to the voxel.
In this embodiment, by comparing the real-time vertical distribution information map and the prior vertical distribution information map, a voxel whose environmental characteristics change can be determined, and by changing the environmental characteristics of the voxel, a physical environmental change occurring at a three-dimensional physical location corresponding to the voxel can be determined. For example, a change in an environmental characteristic of a voxel may indicate that a location in a three-dimensional physical space has either an increase or a decrease in fixtures.
It should be noted that, in this embodiment, steps S101 and S102 may be executed multiple times, and a group of voxels with changed environmental characteristics may be obtained each time the execution is performed; then, step S103 is executed to determine the change of the physical environment according to the change of the environmental features corresponding to the plurality of groups of voxels.
Referring now to fig. 1C, the present application is illustrated with a specific use scenario.
Assuming that the vehicle is running on a road, a billboard is removed 50m in front of the vehicle. According to the collected real-time point cloud data of the vehicle, the position of the billboard 50m in front of the vehicle is blank, and in the real-time vertical distribution information graph obtained after the historical vertical distribution information graph is updated according to the real-time point cloud data, the environmental characteristic that the physical position of the original billboard corresponds to one or more voxels is '0'; and because the prior vertical distribution information map is not updated, the environmental characteristic of one or more voxels corresponding to the physical position of the billboard is 1 in the prior vertical distribution information map.
By comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, the change of the voxel corresponding to the physical position of the billboard can be determined, and according to the change of the environmental characteristic of the part of the voxel from '1' to '0', the change of the physical environment is determined as follows: the fixture at 50m in front of the vehicle disappeared.
According to the scheme provided by the embodiment, the three-dimensional space can be expressed through the grid map and the environment characteristics of the voxels and voxels in the vertical distribution information map, and the real-time vertical distribution information map can be more accurately obtained by updating the historical vertical distribution information map through the real-time point cloud data; by comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, the voxel with changed environmental characteristics can be determined, and then the physical environmental change in the three-dimensional space can be directly determined according to the environmental characteristic change corresponding to the voxel, and the accuracy is high.
The environmental change detection method of the present embodiment may be performed by any suitable electronic device having data processing capabilities, including but not limited to: server, mobile terminal (such as mobile phone, PAD, etc.), PC, etc.
Example two
Fig. 2A is a schematic flowchart of an environmental change detection method according to the present application, as shown in fig. 2A, including:
s201, collecting real-time point cloud data of the physical environment where the vehicle is located.
S202, determining a grid to be updated in the historical vertical distribution information graph corresponding to the physical environment according to the positioning information of the vehicle.
In this embodiment, because the coordinate system of the collected real-time point cloud data is determined according to the vehicle, and the relative position of the vehicle and the vehicle in which the vehicle is located is fixed, in this embodiment, the grid corresponding to the collected real-time point cloud data of the physical environment in which the vehicle is located in the historical vertical distribution information map may be determined as the grid to be updated according to the positioning information of the vehicle.
S203, updating the environmental characteristics of the voxels corresponding to the grids to be updated in the historical vertical distribution information map according to the real-time point cloud data to obtain a real-time vertical distribution information map.
In this embodiment, as shown in fig. 2B, the real-time point cloud data corresponding to the dynamic object in the real-time point cloud data may be removed first, for example, the real-time point cloud data corresponding to other vehicles around the vehicle is removed. And then updating the environmental characteristics of the voxels corresponding to the grid to be updated according to the real-time point cloud data from which the dynamic objects are removed, so as to obtain a real-time vertical distribution information map.
In this embodiment, the historical vertical distribution information map and the real-time vertical distribution information map may be maintained locally by the vehicle. Because the local memory of the vehicle is limited, the vertical distribution information map corresponding to the preset geographic area with the current position as the center can be maintained according to the current position of the vehicle.
Specifically, in this embodiment, a vertical distribution information Map (vertical info Map) may be maintained in a Rolling Map (Rolling Map) manner.
For example, as shown in FIG. 2C, the grid map in the historical vertical distribution information map may be the vertical distribution information map at time t-1 shown in FIG. 2C. At time t-1, the starting point in the historical vertical distribution information graph is the grid at the upper left corner.
When the acquired real-time point cloud data of the physical environment where the vehicle is located is obtained at the time t, a new starting point can be determined according to the positioning information of the vehicle where the vehicle is located, and a new geographic area is determined according to the starting point based on the preset geographic area range.
In this embodiment, since the preset geographic area range for determining the new geographic area is not changed, the geographic area ranges of the grid map corresponding to the time t-1 and the time t are also the same, for example, 8 × 8. Therefore, in this embodiment, if the geographic areas corresponding to the grid maps of the real-time vertical distribution information map and the historical vertical distribution information map are different, the data corresponding to the grid that is not maintained in the historical vertical distribution information map may be emptied and used to store the data corresponding to the newly added grid in the real-time vertical distribution information map. The data corresponding to the grid is a plurality of voxels and the environmental characteristics of each voxel in the vertical direction in the geographic region corresponding to the grid.
As shown in fig. 2C, the starting point of time t may be, for example, the point shown in the grid map in the middle of fig. 2C, assuming that the preset geographic area range may be the geographic area range corresponding to 8 × 8 grids. Then, the geographic area of the vertical distribution information graph corresponding to the time t-1 is the geographic area corresponding to the grids (1-8) × (1-8); and the geographic area of the vertical distribution information graph corresponding to the time t is the geographic area corresponding to the grids (3-10) × (2-9). After that, the data corresponding to the first two columns on the left side and the first row of grids on the upper side in the time t-1 can be emptied, and when the environmental features of the voxels are updated according to the real-time point cloud data, the data corresponding to the newly added 9, 10 columns and 9 th row of grids can be used for storing, so as to obtain the vertical distribution information diagram corresponding to the time t shown on the right side of fig. 2B.
The vertical distribution information map is maintained locally on the vehicle in a rolling map mode, a plurality of frames of real-time point cloud data observed historically do not need to be mapped into the real-time vertical distribution information map at the current moment, and the real-time point cloud data observed at the current moment only needs to be updated into the historical vertical distribution information map each time, so that the computing resources are saved; and the lower data accuracy in the real-time vertical distribution information graph caused by the missing of the acquired real-time point cloud data is avoided.
And S204, determining voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information graph and the prior vertical distribution information graph corresponding to the preset geographic range to which the physical environment belongs.
In this step, the environmental characteristics of voxels corresponding to the same geographic location in the real-time vertical distribution information map and the prior vertical distribution information may be compared to determine voxels with changed environmental characteristics.
And S205, updating the historical change information map according to the voxels with changed environmental characteristics to obtain a real-time change information map.
In this embodiment, the change information map includes: the grid map, a plurality of voxels in the vertical direction in the geographic area corresponding to each grid in the grid map, and the environmental characteristic change information of each voxel.
As shown in fig. 2C, the grid map of the change information map is shown on the left side of fig. 2C, and a plurality of voxels in the vertical direction in the geographic area corresponding to the grid in the change information map is shown in the middle of fig. 2C. The voxels in the change information map are similar to the voxels in the vertical distribution information map and are not described in detail here. The environmental characteristic change information of one voxel is shown in parentheses above and to the right of the voxel in fig. 2C.
For example, as shown in fig. 2C, the environment characteristic change information of one voxel may include: whether or not there is a change (Binarychangeinfo), the number of observed changes, and the number of observed changes. And if the change can occupy 1bit for storage, and the unchanged times and the changed times can respectively occupy 1byte for storage, the environmental characteristic change information of one voxel can occupy the storage space of 2byte +1 bit.
Optionally, in this embodiment, the step of updating the historical change information map according to the voxel whose environmental characteristic changes may include: determining a plurality of peripheral voxels aiming at a current voxel with changed environmental characteristics in a real-time vertical distribution information map; comparing the environmental characteristics of the current voxel in the real-time numerical distribution information map with the environmental characteristics of a plurality of surrounding voxels in the prior vertical distribution information map respectively; and updating the environmental characteristic change information of the current voxel in the historical change information map according to the comparison result.
Because the acquired real-time point cloud data of the physical environment where the vehicle is located has an error, and the positioning information of the vehicle may also have an error, a case of misalignment may exist in the real-time vertical distribution information map, for example, the environmental characteristics of the 8 th voxel corresponding to the grid of the 2 nd row and the 3 rd column, and the environmental characteristics of the 8 th voxel corresponding to the grid of the 3 rd row and the 3 rd column may be misaligned by one row in the real-time vertical distribution information map. In order to avoid the change judgment error of the physical environment caused by dislocation as much as possible, in the embodiment, a plurality of peripheral voxels are determined for the current voxel, and thus comparison is performed for a plurality of times, and the environmental characteristic change information of the current voxel in the historical change information map can be updated according to the comparison result for a plurality of times, so that the accuracy of the environmental characteristic change information is improved.
In addition, in this embodiment, generally, in order to ensure the positioning accuracy on the horizontal plane, the grid is divided into smaller grids, for example, the length and width of one grid may be 5cm, and the possibility that the environmental characteristics of the voxel have misalignment on the horizontal plane is higher; and the accuracy requirement of the map in the vertical direction is low, the height of one voxel can be 50cm, and therefore, the probability that the environmental characteristics of the voxel are misplaced in the vertical direction is low.
Therefore, in the present embodiment, for the current voxel, the peripheral voxels in the horizontal plane are identified with emphasis, and the peripheral voxels in the vertical direction are ignored.
Therefore, in this embodiment, determining a plurality of peripheral voxels for a current voxel whose environmental characteristics change in the real-time vertical distribution information map includes: determining a grid to which a current voxel belongs according to the current voxel with changed environmental characteristics in the real-time vertical distribution information diagram; determining a plurality of peripheral grids by taking the grid to which the current voxel belongs as a center according to a preset number of lines and rows, wherein the preset number of lines and rows is determined according to the voxel offset error of the real-time vertical distribution information map; and taking the voxels with the same elevation as the current voxel in the plurality of peripheral grids as a plurality of peripheral voxels.
In addition, in this embodiment, as shown in fig. 2D, if the environment characteristic change information of the voxel includes: if the number of times of unchanged and the number of times of changed corresponding to the voxel, updating the environmental characteristic change information of the current voxel in the historical change information map according to the comparison result includes: according to the comparison result, determining the number of voxels with the same environmental characteristics as the current voxel in the real-time vertical distribution information map and the number of voxels with different environmental characteristics in a plurality of peripheral voxels in the prior vertical distribution information map; and accumulating the number of voxels with the same environmental characteristics to the number of times of unchanged current voxels in the historical change information map, and accumulating the number of voxels with different environmental characteristics to the number of times of changed current voxels in the historical change information map, so as to update the environmental characteristic change information of the current voxels.
S206, determining the change of the physical environment according to the environment characteristic information corresponding to the voxels stored in the real-time change information map.
Specifically, step S206 may include: and determining the physical environment change of the physical position represented by the voxel according to the corresponding unchanged times and changed times of the voxel in the real-time change information map.
In this embodiment, each time a real-time vertical distribution information map is determined, a comparison result may be determined according to the real-time vertical distribution information map, the number of voxels having the same environmental characteristics and different environmental characteristics corresponding to each voxel may be determined according to the comparison result, and the number of voxels may be accumulated to the number of times of non-change and the number of times of change corresponding to the voxels of the history change information map.
Through multiple accumulation, the environmental characteristic changes of the voxels determined according to the collected multi-frame real-time point cloud data can be integrated into the real-time change information graph, so that the accuracy of the change times and the unchanged times in the real-time change information graph is better, and the accuracy of the physical environmental changes of the physical positions represented by the voxels can be further ensured.
In this embodiment, as shown in fig. 2D, the environment characteristic change information of one voxel may include: whether there is a change, the number of observed changes, and the number of observed changes. In this embodiment, the physical environment change of the physical position represented by the current voxel in the real-time change information map may be determined according to the change times and the unchanged times of the current voxel, and stored as data corresponding to "change or not".
Specifically, the probability of the change of the current voxel can be determined according to the change times and the non-change times of the current voxel, and if the probability of the change of the current voxel is greater than a preset probability, the change of the physical environment is determined, wherein the preset probability is determined according to the acquisition precision of the real-time point cloud data. If the change is determined, whether the value stored by the bit corresponding to the change can be '1' or not is determined; otherwise, the value is '0'; in addition, if the sum of the change times and the unchanged times of the current voxel is smaller, whether the change in the environmental characteristic change information of the current voxel is unknown or not can be determined, and the value stored in the bit corresponding to the voxel can be null or a default value.
Specifically, the probability that the physical environment of the physical location where the current voxel is located changes is:
P(X＝change)＝m/(m+n)
wherein m is the change times corresponding to the current voxel stored in the real-time change information map, and n is the unchanged times corresponding to the current voxel stored in the real-time change information map.
The information whether or not to change may be:
wherein λ is a preset probability. λ may be 0.9 in this embodiment.
Optionally, in this embodiment, referring to fig. 2E, step S206 may include:
s2061, determining a plurality of point cloud characteristic points for vehicle positioning according to the collected real-time point cloud data.
In this embodiment, the point cloud feature point set P for vehicle positioning may be determined according to the real-time point cloud data.
S2062, determining a plurality of voxels representing the same physical position with the plurality of point cloud feature points in the real-time change information graph based on the positioning information of the vehicle.
In this embodiment, because the coordinate system of the real-time point cloud data is determined according to the vehicle-mounted sensor, and the coordinate system of the vehicle-mounted sensor is relatively fixed to the coordinate system of the vehicle, the point cloud feature points may be mapped to the real-time change information map according to the positioning information of the vehicle, so that a plurality of point cloud features representing a plurality of voxels in the same physical location are determined, and the point cloud feature points correspond to the determined voxels one to one.
In this embodiment, a plurality of real-time change information maps may be maintained in the vehicle, as shown in fig. 2F, 9 blocks in total of 3 × 3 are shown, each block may correspond to a real-time change information map, a point at the center of fig. 2F may be a current location position of the vehicle, and a point at the upper left corner of fig. 2F may represent a starting point of the plurality of real-time change information maps.
In this embodiment, according to the current location position of the vehicle, a real-time change information map including the current location position of the vehicle is determined, and then, with the determined real-time change information map as a center, 3 × 3 total 9 real-time change information maps (changeinfo map 1-9) are determined, so as to ensure that the location of the vehicle is always at the center position of the plurality of real-time change information maps, and further ensure that the real-time change information maps of the location of the vehicle have collected environment characteristic change information determined according to the multi-frame real-time point cloud data, thereby improving the accuracy of the obtained change degree of the current physical environment of the vehicle.
In this embodiment, the size of the real-time change information map may be the same as the size of the slice of the map used for positioning.
S2063, determining the change degree of the physical environment where the vehicle is currently located according to the environment characteristic change information corresponding to the plurality of determined voxels in the real-time change information map.
In this embodiment, in order to ensure the accuracy of the determined change degree of the physical environment, the environment characteristic change information corresponding to the voxels around the determined voxel may be combined.
Specifically, a voxel at the same physical position as the cloud feature point Pi at a certain point and surrounding voxels of the voxel may be represented to form a voxel set Mi.
The information for determining whether the corresponding environmental characteristics in the real-time change information map change or not for each voxel in the voxel set Mi may be specifically change _ info determined in the above step.
In the voxel set Mi, the number a of voxels with a change state of 1, the number b of voxels with a change state of 0, and the number of voxels with a change state of unknown (change _ info null or default) are determined, and the degree of change in the physical environment of the physical location represented by the point cloud feature point Pi is determined based on these.
The degree of change of the physical environment of the physical location characterized by the point cloud feature points Pi may be: c is a/(a + b).
After the change degrees of all the point cloud characteristic points are calculated, the change degree of the physical environment where the vehicle is located at present can be determined.
In this embodiment, the vehicle may also report the determined real-time change information map, the change degree of the point cloud feature points, and the like to the server, and the server may count data reported by a plurality of vehicles based on the physical location, and may update the prior vertical distribution information map and other prior maps according to the statistical result.
In addition, in this embodiment, when subsequent vehicle positioning is performed, if it is determined that the physical environment of the physical location represented by a certain voxel or a certain point cloud feature point changes, the real-time point cloud data of the physical location may be deleted from the real-time point cloud data used for positioning, so as to improve the positioning accuracy and avoid negative effects on the positioning algorithm module caused by the change in the physical environment as much as possible. Similarly, if it is determined that the physical environment of the physical location represented by a certain voxel or a certain point cloud feature point changes, the physical location where the physical environment changes may be updated to other algorithm modules of the vehicle except for the positioning algorithm module, so as to reduce negative effects of the change in the physical environment on the other algorithm modules.
Of course, these algorithm modules may vary depending on the type of vehicle, particularly the type of autonomous vehicle. For example, different algorithm modules may be involved for logistics vehicles, public service vehicles, medical service vehicles, terminal service vehicles. The algorithm modules are illustrated below for these four autonomous vehicles, respectively:
the logistics vehicle refers to a vehicle used in a logistics scene, and may be, for example, a logistics vehicle with an automatic sorting function, a logistics vehicle with a refrigeration and heat preservation function, and a logistics vehicle with a measurement function. These logistics vehicles may involve different algorithm modules.
For example, the logistics vehicles can be provided with an automatic sorting device, and the automatic sorting device can automatically take out, convey, sort and store the goods after the logistics vehicles reach the destination. This relates to an algorithm module for goods sorting, which mainly implements logic control of goods taking out, carrying, sorting, storing and the like.
For another example, in a cold chain logistics scenario, the logistics vehicle may further include a refrigeration and insulation device, and the refrigeration and insulation device may implement refrigeration or insulation of transported fruits, vegetables, aquatic products, frozen foods, and other perishable foods, so that the transportation environment is in a proper temperature environment, and the long-distance transportation problem of perishable foods is solved. The algorithm module is mainly used for dynamically and adaptively calculating the proper temperature of cold meal or heat preservation according to the information such as the property, the perishability, the transportation time, the current season, the climate and the like of food (or articles), and automatically adjusting the cold-storage heat preservation device according to the proper temperature, so that a transport worker does not need to manually adjust the temperature when the vehicle transports different foods or articles, the transport worker is liberated from the complicated temperature regulation and control, and the efficiency of cold-storage heat preservation transportation is improved.
For another example, in most logistics scenarios, the fee is charged according to the volume and/or weight of the parcel, but the number of logistics parcels is very large, and the measurement of the volume and/or weight of the parcel by a courier is only dependent, which is very inefficient and has high labor cost. Therefore, in some logistics vehicles, a measuring device is added, so that the volume and/or the weight of the logistics packages can be automatically measured, and the cost of the logistics packages can be calculated. This relates to an algorithm module for logistics package measurement, which is mainly used to identify the type of logistics package, determine the measurement mode of logistics package, such as volume measurement or weight measurement or combined measurement of volume and weight, and can complete the measurement of volume and/or weight according to the determined measurement mode and complete the cost calculation according to the measurement result.
The public service vehicle is a vehicle providing some public service, and may be, for example, a fire truck, an ice removal truck, a watering cart, a snow scraper, a garbage disposal vehicle, a traffic guidance vehicle, and the like. These public service vehicles may involve different algorithm modules.
For example, in the case of an automatically driven fire fighting vehicle, the main task is to perform a reasonable fire fighting task on the fire scene, which involves an algorithm module for the fire fighting task, which at least needs to implement logic such as identification of the fire situation, planning of the fire fighting scheme, and automatic control of the fire fighting device.
For another example, for an ice removing vehicle, the main task is to remove ice and snow on the road surface, which involves an algorithm module for ice removal, the algorithm module at least needs to realize the recognition of the ice and snow condition on the road surface, formulate an ice removal scheme according to the ice and snow condition, such as which road sections need to be deiced, which road sections need not to be deiced, whether a salt spreading manner, the salt spreading gram number, and the like are adopted, and the logic of automatic control of a deicing device under the condition of determining the ice removal scheme.
The medical service vehicle is an automatic driving vehicle capable of providing one or more medical services, the vehicle can provide medical services such as disinfection, temperature measurement, dispensing and isolation, and the algorithm modules relate to algorithm modules for providing various self-service medical services.
The terminal service vehicle is a self-service automatic driving vehicle which can replace some terminal devices and provide certain convenient service for users, and for example, the vehicles can provide services such as printing, attendance checking, scanning, unlocking, payment and retail for the users.
For example, in some application scenarios, a user often needs to go to a specific location to print or scan a document, which is time consuming and labor intensive. Therefore, a terminal service vehicle capable of providing printing/scanning service for a user appears, the service vehicles can be interconnected with user terminal equipment, the user sends a printing instruction through the terminal equipment, the service vehicle responds to the printing instruction, documents required by the user are automatically printed, the printed documents can be automatically sent to the position of the user, the user does not need to queue at a printer, and the printing efficiency can be greatly improved. Or, the scanning instruction sent by the user through the terminal equipment can be responded, the scanning vehicle is moved to the position of the user, the user places the document to be scanned on the scanning tool of the service vehicle to complete scanning, queuing at the printer/scanner is not needed, and time and labor are saved. This involves an algorithm module providing print/scan services that needs to identify at least the interconnection with the user terminal equipment, the response to print/scan instructions, the positioning of the user's location, and travel control.
For another example, as new retail services are developed, more and more electronic stores are sold to large office buildings and public areas by means of vending machines, but the vending machines are placed in fixed positions and are not movable, and users need to go by the vending machines to purchase required goods, which is still inconvenient. Therefore, self-service driving vehicles capable of providing retail services appear, the service vehicles can carry commodities to move automatically and can provide corresponding self-service shopping APP or shopping entrances, a user can place an order for the self-service driving vehicles providing retail services through the APP or shopping entrances by means of a terminal such as a mobile phone, the order comprises names and numbers of commodities to be purchased, and after the vehicle receives an order placement request, whether the current remaining commodities have the commodities purchased by the user and whether the quantity is sufficient can be determined. This involves algorithm modules that provide retail services that implement logic primarily to respond to customer order requests, order processing, merchandise information maintenance, customer location, payment management, etc.
According to the scheme provided by the embodiment, the three-dimensional space can be expressed through the vertical distribution information diagram, and the real-time vertical distribution information diagram can be more accurately obtained through updating the historical vertical distribution information diagram through the real-time point cloud data; the real-time vertical distribution information map and the prior vertical distribution information map are compared, voxels with changed environmental characteristics can be determined, physical environmental changes in a three-dimensional space can be directly determined according to the environmental characteristic changes corresponding to the voxels, the physical positions of the physical environmental changes can be timely updated to an algorithm module of a vehicle, particularly a positioning algorithm module, negative effects of the physical environmental changes on the algorithm module are reduced, reporting can be timely performed, and the prior vertical distribution information map and other prior maps can be timely updated.
The environmental change detection method of the present embodiment may be performed by any suitable electronic device having data processing capabilities, including but not limited to: server, mobile terminal (such as mobile phone, PAD, etc.), PC, etc.
EXAMPLE III
Fig. 3 is a block diagram showing a structure of an environment change detection apparatus according to the application, and as shown in the drawing, the environment change detection apparatus includes:
the acquisition module 301 is used for acquiring real-time point cloud data of a physical environment where the vehicle is located;
an updating module 302, configured to update, according to the real-time point cloud data, an environmental feature of a voxel in a historical vertical distribution information map corresponding to the physical environment, to obtain a real-time vertical distribution information map, where the vertical distribution information map includes: the method comprises the following steps of (1) obtaining a grid map, a plurality of voxels in a vertical direction in a geographic region corresponding to each grid in the grid map, and environmental characteristics of each voxel;
a difference module 303, configured to determine a voxel with a changed environmental characteristic according to a difference between the real-time vertical distribution information map and a priori vertical distribution information map corresponding to a preset geographic range to which the physical environment belongs;
a change determining module 304, configured to determine a change of the physical environment according to a change of the environment feature corresponding to the voxel.
The environment change detection apparatus of this embodiment is used to implement the corresponding environment change detection method in the foregoing method embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described herein again. In addition, the functional implementation of each module in the environment change detection apparatus of this embodiment can refer to the description of the corresponding part in the foregoing method embodiment, and is not repeated here.
Example four
Referring to fig. 4, a schematic structural diagram of an electronic device according to a fifth embodiment of the present application is shown, and the specific embodiment of the present application does not limit a specific implementation of the electronic device.
As shown in fig. 4, the electronic device may include: a processor (processor)402, a Communications Interface 404, a memory 406, and a Communications bus 408.
Wherein:
the processor 402, communication interface 404, and memory 406 communicate with each other via a communication bus 408.
A communication interface 404 for communicating with other electronic devices or servers.
The processor 402 is configured to execute the program 410, and may specifically execute relevant steps in the above-described environment change detection method embodiment.
In particular, program 410 may include program code comprising computer operating instructions.
The processor 402 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 406 for storing a program 410. Memory 406 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 410 may be specifically configured to enable the processor 402 to execute the operations in the foregoing method embodiments, and specific implementation of each step in the program 410 may refer to corresponding steps and corresponding descriptions in units in the foregoing environment change detection method embodiments, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
The embodiment of the present application further provides a computer program product, which includes computer instructions for instructing a computing device to execute an operation corresponding to any one of the traffic road data processing methods in the above multiple method embodiments.
It should be noted that, according to the implementation requirement, each component/step described in the embodiment of the present application may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present application.
The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It will be appreciated that the computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the environmental change detection methods described herein. Further, when a general-purpose computer accesses code for implementing the environmental change detection method illustrated herein, execution of the code transforms the general-purpose computer into a special-purpose computer for performing the environmental change detection method illustrated herein.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.
Claims (11)
1. An environmental change detection method, comprising:
the method comprises the steps of collecting real-time point cloud data of a physical environment where a vehicle is located, updating the environment characteristics of voxels in a historical vertical distribution information map corresponding to the physical environment according to the real-time point cloud data, and obtaining a real-time vertical distribution information map, wherein the vertical distribution information map comprises the following steps: the method comprises the following steps of (1) obtaining a grid map, a plurality of voxels in a vertical direction in a geographic region corresponding to each grid in the grid map, and environmental characteristics of each voxel;
determining voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information map and a prior vertical distribution information map corresponding to a preset geographic range to which the physical environment belongs;
and determining the change of the physical environment according to the change of the environment characteristic corresponding to the voxel.
2. The method according to claim 1, wherein the acquiring real-time point cloud data of a physical environment where the vehicle is located, updating the environment characteristics of voxels in a historical vertical distribution information map corresponding to the physical environment according to the real-time point cloud data, and obtaining the real-time vertical distribution information map comprises:
collecting real-time point cloud data of a physical environment where a vehicle is located;
determining a grid to be updated in a historical vertical distribution information map corresponding to the physical environment according to the positioning information of the vehicle;
and updating the environmental characteristics of the voxels corresponding to the grids to be updated in the historical vertical distribution information map according to the real-time point cloud data to obtain a real-time vertical distribution information map.
3. The method according to claim 1, wherein after determining the voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information map and the a priori vertical distribution information map corresponding to the preset geographic range to which the physical environment belongs, the method further comprises:
updating a historical change information map according to voxels with changed environmental characteristics to obtain a real-time change information map, wherein the change information map comprises: the grid map, a plurality of voxels in the vertical direction in the geographic area corresponding to each grid in the grid map, and the environmental characteristic change information of each voxel.
4. The method according to claim 3, wherein the updating the historical change information map according to the voxels whose environmental characteristics have changed comprises:
determining a plurality of peripheral voxels aiming at a current voxel with changed environmental characteristics in a real-time vertical distribution information map;
comparing the environmental characteristics of the current voxel in the real-time numerical distribution information map with the environmental characteristics of a plurality of surrounding voxels in the prior vertical distribution information map respectively;
and updating the environmental characteristic change information of the current voxel in the historical change information map according to the comparison result.
5. The method of claim 4, wherein the determining a plurality of peripheral voxels for a current voxel having a change in an environmental feature in the real-time vertical distribution information map comprises:
determining a grid to which a current voxel belongs according to the current voxel with changed environmental characteristics in the real-time vertical distribution information diagram;
determining a plurality of peripheral grids by taking the grid to which the current voxel belongs as a center according to a preset number of lines and rows, wherein the preset number of lines and rows is determined according to the voxel offset error of the real-time vertical distribution information map;
and taking the voxels with the same elevation as the current voxel in the plurality of peripheral grids as a plurality of peripheral voxels.
6. The method of claim 4, wherein the environmental feature change information of the voxel comprises: the updating of the environmental characteristic change information of the current voxel in the historical change information map according to the comparison result comprises:
according to the comparison result, determining the number of voxels with the same environmental characteristics as the current voxel in the real-time vertical distribution information map and the number of voxels with different environmental characteristics in a plurality of peripheral voxels in the prior vertical distribution information map;
and accumulating the number of voxels with the same environmental characteristics to the number of times of unchanged current voxels in the historical change information map, and accumulating the number of voxels with different environmental characteristics to the number of times of changed current voxels in the historical change information map, so as to update the environmental characteristic change information of the current voxels.
7. The method of claim 6, wherein the determining a change in the physical environment from a change in the environmental feature to which the voxel corresponds comprises:
and determining the physical environment change of the physical position represented by the voxel according to the corresponding unchanged times and changed times of the voxel in the real-time change information map.
8. The method of claim 3, wherein the determining a change in the physical environment from a change in the environmental feature to which the voxel corresponds comprises:
determining a plurality of point cloud characteristic points for vehicle positioning according to the collected real-time point cloud data;
determining a plurality of voxels representing the same physical position as the plurality of point cloud feature points in a real-time change information map based on the positioning information of the vehicle;
and determining the change degree of the current physical environment of the vehicle according to the environment characteristic change information corresponding to the plurality of determined voxels in the real-time change information map.
9. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the environment change detection method according to any one of claims 1-8.
10. A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the environmental change detection method of any one of claims 1-8.
11. A computer program product comprising computer instructions to instruct a computing device to perform operations corresponding to the method of detecting a change in environment as claimed in any one of claims 1 to 8.
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