CN113761096B - Map compiling method and device and computer readable storage medium - Google Patents
Map compiling method and device and computer readable storage medium Download PDFInfo
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application provides a map preparation method, a map preparation device and a computer readable storage medium, wherein the map preparation method comprises the following steps: the method comprises the steps that multisource sensing data are collected for a parking apron of an airplane after the airplane is berthed through multisource sensing equipment; carrying out data fusion on the multisource perception data to acquire an airplane contour and an airplane parking state; determining the ground clothing vehicle docking position of the airplane according to the outline and the parking state of the airplane; compiling a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position; and generating a high-precision map of the parking apron based on the aircraft contour, the aircraft parking state, the standby parking space position, the working parking space position and the driving route. Through implementation of the scheme, the actual berthing scene of the airplane on the parking apron is perceived in real time, map element data are adaptively generated according to the perceived data, and the map elements of the high-precision map of the parking apron are ensured to be matched with the actual scene, so that effective guidance can be provided for the ground service automatic driving vehicle of the parking apron.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a map generating method, a map generating device, and a computer readable storage medium.
Background
In recent years, autopilot technology has evolved dramatically and autopilot applications within airport flight areas have begun testing and pilot applications. The automatic driving has strong dependence on a high-precision map, and the high-precision map is a necessary guarantee basis for airport automatic driving.
At present, the map in the airport flight area compiled in the related technology generally only comprises some fixed information, namely the position of a parking place in the map, the driving route and the like are kept unchanged in different scenes. However, in practical applications, the type of the airplane parked on each tarmac or the parking state of the airplane (e.g., the parking position, the parking direction of the airplane) may be changed, so that the map element data in the high-precision map provided by the related art may not match with the actual scene information of the tarmac, and depending on the map, effective guidance cannot be provided to the ground service autopilot vehicle of the tarmac.
Disclosure of Invention
The embodiment of the application provides a map compiling method, a map compiling device and a computer readable storage medium, which at least can solve the problem that map element data in a high-precision map of an airport flight area compiled by a related technology are inconsistent with actual scene information, so that effective guidance cannot be provided for ground service.
An embodiment of the present application provides a map creating method, including:
when the aircraft is determined to enter a safe berthing state, multi-source sensing data are collected for the parking apron through multi-source sensing equipment;
carrying out data fusion on the multisource sensing data to acquire an airplane contour and an airplane parking state; wherein the aircraft parking status includes an aircraft parking direction and an aircraft parking position;
determining a ground clothing vehicle docking position of the aircraft according to the aircraft contour and the aircraft parking state; wherein the ground suit vehicle docking position comprises a cabin door position, a supply port position and a discharge port position;
compiling a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position;
and generating a high-precision map of the parking apron based on the aircraft contour, the aircraft parking state, the standby parking space position, the working parking space position and the driving route.
A second aspect of the embodiments of the present application provides a map creating apparatus, including:
the acquisition module is used for acquiring multi-source perception data aiming at the parking apron through the multi-source perception equipment when the aircraft is determined to enter a safe berthing state;
the acquisition module is used for carrying out data fusion on the multi-source sensing data to acquire an airplane contour and an airplane parking state; wherein the aircraft parking status includes an aircraft parking direction and an aircraft parking position;
the determining module is used for determining the ground clothing vehicle docking position of the airplane according to the airplane contour and the airplane parking state; wherein the ground suit vehicle docking position comprises a cabin door position, a supply port position and a discharge port position;
the programming module is used for programming the standby parking space position, the working parking space position and the driving route of the ground suit vehicle based on the ground suit vehicle docking position;
the generation module is used for generating an apron high-precision map based on the airplane outline, the airplane parking state, the standby parking space position, the working parking space position and the driving route.
A third aspect of an embodiment of the present application provides an electronic device, including: the map generation method according to the first aspect of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement each step in the map generation method according to the first aspect of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps in the mapping method provided in the first aspect of the embodiments of the present application.
As can be seen from the above, according to the map compiling method, the map compiling device and the computer readable storage medium provided by the scheme of the application, when the aircraft is determined to enter a safe berthing state, multi-source sensing data are collected for the parking apron through the multi-source sensing equipment; carrying out data fusion on the multisource perception data to acquire an airplane contour and an airplane parking state; determining the ground clothing vehicle docking position of the airplane according to the outline and the parking state of the airplane; compiling a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position; and generating a high-precision map of the parking apron based on the aircraft contour, the aircraft parking state, the standby parking space position, the working parking space position and the driving route. By implementing the scheme, the actual berthing scene of the airplane on the parking apron is sensed in real time, map element data are adaptively generated according to the sensed data, the high-precision map of the parking apron is dynamically compiled, the map elements are ensured to be matched with the actual scene, and effective guidance can be provided for the ground service automatic driving vehicle.
Drawings
Fig. 1 is a schematic flow chart of a mapping method according to a first embodiment of the present application;
fig. 2 is a schematic diagram of a tarmac high-precision map according to a first embodiment of the present application;
fig. 3 is a schematic view of a parking space according to a first embodiment of the present application;
fig. 4 is a schematic program module diagram of a map creating apparatus according to a second embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to a third embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Two main features of high-precision map (HDMap) are: high precision and high definition. The high-precision characteristic of the method is as follows: the positioning precision is high, and the positioning precision is required to reach 10cm; the high-definition characteristic is expressed as follows: the road traffic element information is fine, and the road traffic element information is required to be fully achieved.
In practical applications, an autonomous vehicle will perform apron ground services according to data of a high-precision map, in particular will travel along a lane center line, both sides of the vehicle remain within the lane line, and also involve the necessary parking positions, loading and unloading docking points, etc. precise positions. High-precision maps of roads within an airport flight area, including lane lines, lane centerlines, gradient/curvature, turn markers, parking locations, etc., are relatively fixed information. But for each apron, the high-precision map information of the autopilot will vary with the type of aircraft and the location of the aircraft. Different aircraft shapes and sizes and different positions of cabin doors, oil filling ports, sewage ports and the like influence the change of the driving route of the automatic driving vehicle and the parking position of the vehicle; in addition, the airplane with the same model always has front-back left-right and angle deviation in each parking position, and the deviation can reach several meters at maximum. If the high-precision map is compiled according to the fixed scene information, the map element data is not matched with the actual scene of the tarmac.
In order to solve the problem that map element data in an airport flight area map compiled in the related art does not coincide with actual scene information, and thus effective guidance cannot be provided for ground service automatic driving vehicles, a map compiling method is provided in a first embodiment of the present application, as shown in fig. 1, which is a flow chart diagram of the map compiling method provided in the present embodiment, and the map compiling method includes the following steps:
and 101, acquiring multi-source sensing data for the parking apron through multi-source sensing equipment when the aircraft is determined to enter a safe berthing state.
Specifically, in practical applications, after the aircraft slides into the stand and goes up the gear, the aircraft enters a safe berthing state, which can be obtained from the airport dispatch control system. The multi-source sensing device of the embodiment is used for collecting scene information of the parking apron, and the multi-source sensing device can comprise a plurality of different types of sensor devices, such as a laser radar, a camera and the like, and the corresponding multi-source sensing data comprises laser point cloud data and image data.
It should be noted that the multi-source sensing device of this embodiment may be installed at a position about 6 meters high just in front of the apron, with the view to the aircraft being in a forward looking down direction. The laser radar can adopt a 3D scanning mode with more than 16 lines, can acquire three-dimensional point cloud with centimeter-level precision, and the detection range covers the whole parking apron; and the camera is arranged at the same position of the laser radar, and the shot high-definition image can also cover the whole parking apron.
And 102, carrying out data fusion on the multisource perception data to acquire an airplane contour and an airplane parking state.
Specifically, the aircraft parking status of the present embodiment includes an aircraft parking direction and an aircraft parking position. In this embodiment, the sensing data is imported into the system, two or more kinds of data are fused, and accurate data such as the outline of the aircraft, the parking position of the aircraft, the direction angle when the aircraft is parked and the like are interpreted, so that the accuracy is better than 10 cm.
In some implementations of the present embodiment, the step of obtaining the aircraft contour and the aircraft parking state by performing data fusion on the multisource sensing data specifically includes: respectively extracting the characteristics of the multi-source perception data to obtain characteristic vectors; converting feature vectors of different sensing equipment coordinate systems into the same coordinate system; taking the sensing equipment with the lowest data acquisition frequency as a time reference, and performing time synchronization on the feature vector after coordinate conversion; grouping and correlating the feature vectors after time synchronization; and synthesizing the feature vectors after grouping association, and synthesizing the multi-source perception data to obtain the airplane contour and the airplane parking state.
Specifically, when the data are subjected to fusion calculation processing, the embodiment mainly relates to calculation processing such as space-time coordinate conversion, kalman filtering, feature data synthesis and the like, and real-time data such as the position, the direction and the like of an airplane are calculated. In the actual processing process, firstly, different types of sensors (active or passive) collect observation target data at the moment t; second, the output data (discrete or continuous time function data, output vector, imaging data or a direct attribute description) of the sensor at the time t is subjected to characteristic extraction transformation to extract a characteristic vector representing the observed dataThirdly, establishing a coordinate transformation relation between different sensor coordinate systemsConverting the measured values of different sensor coordinate systems into the same coordinate system; step four, collecting the frequency of acquiring data by different sensors, taking the sensor with the lowest frequency as a time reference, performing pattern recognition processing (a pattern recognition method comprises clustering, a self-adaptive neural network or other methods) on the feature vector, converting the feature vector into target attribute judgment, completing the description of each sensor about a target, and further performing error processing on the special vector by using a Kalman filtering method to eliminate observation errors and noise; fifthly, grouping and correlating the description data of each sensor about the target, and further filtering the data with larger error exceeding the threshold value; and sixthly, synthesizing the data of each sensor of the target to obtain consistency interpretation and description of the target.
And step 103, determining the ground clothing vehicle docking position of the airplane according to the outline of the airplane and the parking state of the airplane.
Specifically, the ground-service vehicle docking position of the embodiment includes a cabin door position, a supply port position, and a discharge port position, where the cabin door includes a passenger cabin door, a cargo cabin door, a luggage compartment door, and the like, the supply port includes an oil filling port, a water filling port, and the like, and the discharge port may include a sewage port, and the like.
In some implementations of the present embodiment, the step of determining the ground engaging vehicle docking position of the aircraft according to the aircraft contour and the aircraft parking status includes: receiving an aircraft identity sent by an airport scheduling system; and determining the ground clothing vehicle docking position of the airplane by combining the airplane identification mark, the airplane contour and the airplane parking state.
Specifically, the aircraft identity identifier of the embodiment can include data such as an aircraft model number, a serial number and the like, design elements of the aircraft can be perceived through the aircraft identity identifier, and the position of a cabin door and the like on the aircraft can be accurately positioned by combining the aircraft outline and the parking state on the basis.
Step 104, compiling a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position.
Specifically, after determining the butt-joint position of the ground-cover vehicle on the aircraft, the embodiment can correspondingly plan the standby space position, the working space position and the driving route of the ground-cover vehicle required by the aircraft, wherein the standby space is a temporary space of the ground-cover vehicle before the task is executed, the working space is a parking space when the ground-cover vehicle is in butt joint with the aircraft to execute the task, and the driving route is a driving route (namely, a lane line) from the standby space position to the working space position of the ground-cover vehicle.
In some implementations of the present embodiment, the steps of compiling the standby space position, the working space position, and the driving route of the ground-suit vehicle based on the ground-suit vehicle docking position specifically include: acquiring ground service vehicle allocation data based on the aircraft identity; and combining the ground suit vehicle distribution data and the ground suit vehicle docking positions, and compiling the standby parking space position, the working parking space position and the driving route of the ground suit vehicle.
Specifically, the ground service vehicle allocation data of the present embodiment includes a ground service vehicle type (e.g., a passenger elevator car, a conveyor car, etc.), a ground service vehicle number. In this embodiment, the types and numbers of ground-service vehicles of different aircraft are different, so that the embodiment adaptively compiles the parking space positions and the driving routes, thereby ensuring the accuracy of map data, and it should be understood that the embodiment can also set partial fixed parking spaces for different aircraft.
And 105, generating a high-precision map of the parking apron based on the aircraft contour, the aircraft parking state, the standby parking space position, the working parking space position and the driving route.
Specifically, in this embodiment, after the parking positions and the driving routes of all the vehicles are compiled, the automatic high-precision map of the ground service of the parking apron for parking the aircraft is completed, and the high-precision map can be sent to the airport dispatching control system and the automatic driving vehicle. The airport dispatching control system in the follow-up work can dispatch ground service vehicles based on the high-precision map, and the ground service automatic driving vehicles are more beneficial to the running operation of the automatic driving vehicles by the aid of the high-precision map.
In some implementations of this embodiment, before the step of acquiring, by the multi-source sensing device, multi-source sensing data for the tarmac when it is determined that the aircraft enters the safe berthing state, the method further includes: when the parking apron is determined to be in an idle state, acquiring multi-source perception data for the parking apron through multi-source perception equipment; carrying out data fusion on the multisource sensing data to acquire the position of the airplane slide way and the position of the airplane position safety line; and generating an apron base map based on the aircraft slide track position and the aircraft position safety line position. Correspondingly, the step of generating the high-precision map of the parking apron based on the airplane profile, the airplane parking state, the standby parking space position, the working parking space position and the driving route specifically comprises the following steps: on the basis of the parking apron basic map, a parking apron high-precision map is generated based on the airplane outline, the airplane parking state, the standby parking space position, the working parking space position and the driving route.
Specifically, in the embodiment, before an aircraft is berthed, an aircraft slideway and an aircraft bit safety line of an apron can be obtained in advance to generate a basic map, the map is used as basic data of the apron, the basic map is kept unchanged for different aircraft, and after a subsequent aircraft is berthed, the basic map is combined with dynamically-compiled map element data, so that the high-precision map can be compiled. Fig. 2 is a schematic diagram of a high-precision map of an apron, in which a represents a multi-source sensing device, B represents a standby parking space, C represents a working parking space, D represents a driving line, E represents a level safety line, and F represents an airplane slide.
In some implementations of this embodiment, the tarmac high-precision map includes parking space code data corresponding to a standby parking space position and a working parking space position. Correspondingly, the step of generating the high-precision map of the apron comprises the following steps: acquiring longitude and latitude coordinate values of preset reference angular points in four angular points of the parking space; generating a reference angular point space position code based on longitude and latitude coordinate values of the reference angular point; acquiring longitude and latitude offset vectors of the residual parking space corner points relative to the reference corner points respectively based on the longitude and latitude coordinate values of the residual parking space corner points and the longitude and latitude coordinate values of the reference corner points; generating a residual angular point space position code based on the longitude and latitude offset vector; and combining the reference angular point space position codes and the residual angular point space position codes to generate parking space coding data.
Specifically, in this embodiment, the sizes of different ground-suit vehicles are different, so that the parking spaces to be compiled for different vehicles are also different. In the embodiment, a method for marking four corner points of a parking space by coding is adopted to mark high-precision map data of each parking space or parking position. The coding of the parking space includes longitude and latitude coordinate coding of four corner points of the parking space, in this embodiment, reference corner points are set in the four corner points, as shown in fig. 3, which is a parking space schematic diagram provided in this embodiment, in the figure, the corner point No. 0 can be set as the reference corner point, the corner point No. 0 (origin) of the parking space is a front right point in the direction of the vehicle head of the parking space, and clockwise directions are respectively the point No. 1, the point No. 2 and the point No. 3. The reference angular point position code of the embodiment directly adopts the longitude and latitude coordinate values to encode, and the residual angular point space position code is encoded by the coordinate difference value of the present angular point and the reference angular point.
Further, in some implementations of the present embodiment, the step of generating the reference angular point spatial position code based on the latitude and longitude coordinate values of the reference angular point specifically includes: and respectively extracting numerical values of preset digits after decimal points from longitude coordinate values and latitude coordinate values of the reference angular points to obtain the spatial position code of the reference angular points.
Specifically, the spatial position code of the reference corner point can adopt 19-bit coding, and the longitude and latitude values of the reference corner point are used for coding. Wherein, the longitude refers to xxx. Xxxxxx (unit: degree, 7 th bit after decimal point can be taken, 10 bits are all taken); latitude means yy.yyyyyy (unit: degree, 7 th bit after decimal point, 9 th bit in total). Taking longitude 116.1234567 degrees as an example, the extracted spatial position code segment is 1234567, and taking latitude 35.1234567 degrees as an example, the extracted spatial position code segment is 1234567, and the finally combined reference corner spatial position code is 12345671234567.
In addition, the step of generating the residual angular point space position code based on the longitude and latitude offset vector specifically includes: converting the direction of the latitude offset vector to a first value and converting the direction of the longitude offset vector to a second value; combining the first numerical value and the numerical value of the preset digit after the decimal point of the latitude offset vector into a first space position code segment, and combining the second numerical value and the numerical value of the preset digit after the decimal point of the latitude offset vector into a second space position code segment; and combining the first space position code segment and the second space position code segment into the residual corner space position code.
Specifically, the direction of the offset vector of the present embodiment includes a positive direction and a negative direction, and values can be differentially assigned for the positive direction and the negative direction, for example, indicated by "1" and "0", respectively. In this embodiment, the rest of the corner space position codes are offset codes with reference corners, and 10-bit codes can be used, wherein the 1 st bit represents positive offset or negative offset in the longitudinal direction by using "1" or "0", the 2 nd to 5 th bits represent offset values (unit: degree, 4 th to 7 th bits after taking decimal point), the 6 th bit represents positive offset or negative offset in the latitudinal direction by using "1" or "0", and the 7 th to 10 th bits represent offset values (unit: degree, 4 th to 7 th bits after taking decimal point). Taking the example of the longitude 116.1234789 degrees and the latitude 35.1234678 degrees of the corner 1 in fig. 3, and the longitude 116.1234567 degrees and the latitude 35.1234567 degrees of the corner 0, the difference between the corner 1 and the corner 0 is the longitude 0.0000222 and the latitude 0.0000111, the first space position code segment may be 10222, and the second space position code segment may be 10111, so that the finally obtained space position code of the corner 1 is 1022210111.
Based on the technical scheme of the embodiment of the application, when the aircraft is determined to enter a safe berthing state, multi-source sensing data are collected for the parking apron through multi-source sensing equipment; carrying out data fusion on the multisource perception data to acquire an airplane contour and an airplane parking state; determining the ground clothing vehicle docking position of the airplane according to the outline and the parking state of the airplane; compiling a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position; and generating a high-precision map of the parking apron based on the aircraft contour, the aircraft parking state, the standby parking space position, the working parking space position and the driving route. By implementing the scheme, the actual berthing scene of the airplane on the parking apron is sensed in real time, map element data are adaptively generated according to the sensed data, the high-precision map of the parking apron is dynamically compiled, the map elements are ensured to be matched with the actual scene, and effective guidance can be provided for ground service.
Fig. 4 is a schematic diagram of a map creating apparatus according to a second embodiment of the present application. The mapping apparatus can be used to implement the mapping method in the foregoing embodiment. As shown in fig. 4, the map creating apparatus mainly includes:
the acquisition module 401 is configured to acquire multi-source sensing data for the parking apron through the multi-source sensing device when it is determined that the aircraft enters a safe berthing state;
an acquisition module 402, configured to perform data fusion on the multisource sensing data, and acquire an aircraft contour and an aircraft parking state; the aircraft parking state comprises an aircraft parking direction and an aircraft parking position;
a determining module 403, configured to determine a ground-suit vehicle docking position of the aircraft according to the aircraft contour and the aircraft parking status; wherein, the ground suit vehicle docking position comprises a cabin door position, a supply port position and a discharge port position;
the compiling module 404 is configured to compile a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position;
the generating module 405 is configured to generate a high-precision map of the tarmac based on the aircraft contour, the aircraft parking status, the standby parking space position, the working parking space position, and the driving route.
In some implementations of this embodiment, the obtaining module is specifically configured to: respectively extracting the characteristics of the multi-source perception data to obtain characteristic vectors; converting feature vectors of different sensing equipment coordinate systems into the same coordinate system; taking the sensing equipment with the lowest data acquisition frequency as a time reference, and performing time synchronization on the feature vector after coordinate conversion; grouping and correlating the feature vectors after time synchronization; and synthesizing the feature vectors after grouping association, and synthesizing the multi-source perception data to obtain the airplane contour and the airplane parking state.
In some implementations of this embodiment, the determining module is specifically configured to: receiving an aircraft identity sent by an airport scheduling system; and determining the ground clothing vehicle docking position of the airplane by combining the airplane identification mark, the airplane contour and the airplane parking state.
Further, in some implementations of the present embodiment, the compiling module is specifically configured to: acquiring ground service vehicle allocation data based on the aircraft identity; wherein the ground suit vehicle allocation data comprises ground suit vehicle types and ground suit vehicle numbers; and combining the ground suit vehicle distribution data and the ground suit vehicle docking positions, and compiling the standby parking space position, the working parking space position and the driving route of the ground suit vehicle.
In some implementations of this embodiment, the generating module is further configured to: when the parking apron is determined to be in an idle state, acquiring multi-source perception data for the parking apron through multi-source perception equipment; carrying out data fusion on the multisource sensing data to acquire the position of the airplane slide way and the position of the airplane position safety line; and generating an apron base map based on the aircraft slide track position and the aircraft position safety line position. Correspondingly, when the generating module executes the functions of generating the high-precision map of the parking apron based on the airplane profile, the airplane parking state, the standby parking space position, the working parking space position and the driving route, the generating module is specifically used for: on the basis of the parking apron basic map, a parking apron high-precision map is generated based on the airplane outline, the airplane parking state, the standby parking space position, the working parking space position and the driving route.
In some implementations of this embodiment, the tarmac high-precision map includes parking space code data corresponding to standby parking space positions and work parking space positions. Correspondingly, when executing the above-mentioned function of generating the high-precision map of the apron, the generating module is specifically configured to: acquiring longitude and latitude coordinate values of preset reference angular points in four angular points of the parking space; generating a reference angular point space position code based on longitude and latitude coordinate values of the reference angular point; acquiring longitude and latitude offset vectors of the residual parking space corner points relative to the reference corner points respectively based on the longitude and latitude coordinate values of the residual parking space corner points and the longitude and latitude coordinate values of the reference corner points; generating a residual angular point space position code based on the longitude and latitude offset vector; and combining the reference angular point space position codes and the residual angular point space position codes to generate parking space coding data.
Further, in some implementations of the present embodiment, when the generating module executes the function of generating the spatial position code of the reference corner based on the latitude and longitude coordinate values of the reference corner, the generating module is specifically configured to: and respectively extracting numerical values of preset digits after decimal points from longitude coordinate values and latitude coordinate values of the reference angular points to obtain the spatial position code of the reference angular points. And the generating module is specifically used for when executing the function of generating the residual angular point space position codes based on the longitude and latitude offset vectors: converting the direction of the latitude offset vector to a first value and converting the direction of the longitude offset vector to a second value; combining the first numerical value and the numerical value of the preset digit after the decimal point of the latitude offset vector into a first space position code segment, and combining the second numerical value and the numerical value of the preset digit after the decimal point of the latitude offset vector into a second space position code segment; and combining the first space position code segment and the second space position code segment into the residual corner space position code.
It should be noted that, the mapping methods in the first and second embodiments may be implemented based on the mapping apparatus provided in the first embodiment, and those skilled in the art can clearly understand that, for convenience and brevity of description, the specific working process of the mapping apparatus described in the first embodiment may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
According to the map creating device provided by the embodiment, when the aircraft is determined to enter a safe berthing state, multi-source sensing data are collected for the parking apron through the multi-source sensing equipment; carrying out data fusion on the multisource perception data to acquire an airplane contour and an airplane parking state; determining the ground clothing vehicle docking position of the airplane according to the outline and the parking state of the airplane; compiling a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position; and generating a high-precision map of the parking apron based on the aircraft contour, the aircraft parking state, the standby parking space position, the working parking space position and the driving route. By implementing the scheme, the actual berthing scene of the airplane on the parking apron is sensed in real time, map element data are adaptively generated according to the sensed data, the high-precision map of the parking apron is dynamically compiled, the map elements are ensured to be matched with the actual scene, and effective guidance can be provided for the ground service automatic driving vehicle.
Referring to fig. 5, fig. 5 is an electronic device according to a third embodiment of the present application. The electronic device can be used for realizing the mapping method in the previous embodiment. As shown in fig. 5, the electronic device mainly includes:
memory 501, processor 502, bus 503, and a computer program stored in memory 501 and executable on processor 502, memory 501 and processor 502 being connected by bus 503. When the processor 502 executes the computer program, the mapping method in the foregoing embodiment is implemented. Wherein the number of processors may be one or more.
The memory 501 may be a high-speed random access memory (RAM, random Access Memory) memory or a non-volatile memory (non-volatile memory), such as a disk memory. The memory 501 is used for storing executable program codes, and the processor 502 is coupled to the memory 501.
Further, the embodiment of the application further provides a computer readable storage medium, which may be provided in the electronic device in each embodiment, and the computer readable storage medium may be a memory in the embodiment shown in fig. 5.
The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the mapping method of the foregoing embodiment. Further, the computer-readable medium may be any medium capable of storing a program code, such as a usb (universal serial bus), a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a readable storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned readable storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all necessary for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing is a description of the mapping method, apparatus and computer readable storage medium provided herein, and it is not intended that the disclosure be limited to the specific embodiments and applications described herein, as those skilled in the art will appreciate from the disclosure of the present application.
Claims (10)
1. A map construction method, comprising:
when the aircraft is determined to enter a safe berthing state, multi-source sensing data are collected for the parking apron through multi-source sensing equipment arranged on the parking apron;
carrying out data fusion on the multisource sensing data to acquire an airplane contour and an airplane parking state; wherein the aircraft parking status includes an aircraft parking direction and an aircraft parking position;
determining a ground clothing vehicle docking position of the aircraft according to the aircraft contour and the aircraft parking state; wherein the ground suit vehicle docking position comprises a cabin door position, a supply port position and a discharge port position;
compiling a standby parking space position, a working parking space position and a driving route of the ground suit vehicle based on the ground suit vehicle docking position;
and generating a high-precision map of the parking apron based on the aircraft contour, the aircraft parking state, the standby parking space position, the working parking space position and the driving route.
2. The mapping method of claim 1, wherein the step of data fusing the multisource awareness data to obtain an aircraft contour and an aircraft parking status comprises:
respectively extracting the characteristics of the multi-source perception data to obtain characteristic vectors;
converting the feature vectors of different sensing device coordinate systems to the same coordinate system;
taking the sensing equipment with the lowest data acquisition frequency as a time reference, and performing time synchronization on the feature vector after coordinate conversion;
grouping and associating the feature vectors after time synchronization;
and synthesizing the feature vectors after grouping association, and synthesizing the multi-source perception data to obtain an airplane contour and an airplane parking state.
3. The mapping method of claim 1, wherein the step of determining the ground engaging vehicle docking position of the aircraft based on the aircraft profile and the aircraft parked state comprises:
receiving an aircraft identity sent by an airport scheduling system;
and determining the ground clothing vehicle docking position of the airplane by combining the airplane identity mark, the airplane outline and the airplane parking state.
4. The map construction method according to claim 3, wherein the step of constructing the standby space position, the work space position, and the drive line of the ground-suit vehicle based on the ground-suit vehicle docking position comprises:
acquiring ground service vehicle distribution data based on the aircraft identity; wherein the ground suit vehicle allocation data comprises ground suit vehicle types and ground suit vehicle numbers;
and combining the ground suit vehicle distribution data and the ground suit vehicle docking positions to compile standby parking space positions, working parking space positions and driving routes of the ground suit vehicles.
5. The mapping method according to claim 1, wherein the step of acquiring the multi-source perception data for the tarmac by the multi-source perception device mounted to the tarmac when the aircraft is determined to enter the safe berthing state is preceded by the step of:
when the parking apron is determined to be in an idle state, acquiring multi-source perception data for the parking apron through multi-source perception equipment;
carrying out data fusion on the multisource sensing data to acquire the position of an airplane slideway and the position of a airplane safety line;
generating an apron base map based on the aircraft slide position and the airport level safety line position;
the step of generating the tarmac high-precision map based on the aircraft profile, the aircraft parking state, the standby parking space position, the working parking space position and the driving route comprises the following steps:
and generating an apron high-precision map based on the airplane contour, the airplane parking state, the standby parking space position, the working parking space position and the driving route on the basis of the apron basic map.
6. The map construction method according to claim 1, wherein the tarmac high-precision map includes parking space coding data corresponding to the standby parking space position and the working parking space position;
the step of generating the tarmac high-precision map comprises the following steps:
acquiring longitude and latitude coordinate values of preset reference angular points in four angular points of the parking space;
generating a reference angular point space position code based on the longitude and latitude coordinate values of the reference angular point;
acquiring longitude and latitude offset vectors of the residual parking space corner relative to the reference corner respectively based on longitude and latitude coordinate values of the residual parking space corner and longitude and latitude coordinate values of the reference corner;
generating a residual angular point space position code based on the longitude and latitude offset vector;
and generating the parking space coding data by combining the reference angular point space position codes and the residual angular point space position codes.
7. The mapping method according to claim 6, wherein the step of generating a reference corner spatial position code based on longitude and latitude coordinate values of the reference corner includes:
respectively extracting numerical values of preset digits after decimal points from longitude coordinate values and latitude coordinate values of the reference angular points to obtain a reference angular point space position code;
the step of generating the residual angular point space position code based on the longitude and latitude offset vector comprises the following steps:
converting the direction of the latitude offset vector to a first value and converting the direction of the longitude offset vector to a second value;
combining the first numerical value and the numerical value of the preset digit after the decimal point of the latitude offset vector into a first space position code segment, and combining the second numerical value and the numerical value of the preset digit after the decimal point of the latitude offset vector into a second space position code segment;
and combining the first space position code segment and the second space position code segment into a residual angular point space position code.
8. A map creation apparatus, comprising:
the acquisition module is used for acquiring multi-source sensing data for the parking apron through multi-source sensing equipment arranged on the parking apron when the aircraft is determined to enter a safe berthing state;
the acquisition module is used for carrying out data fusion on the multi-source sensing data to acquire an airplane contour and an airplane parking state; wherein the aircraft parking status includes an aircraft parking direction and an aircraft parking position;
the determining module is used for determining the ground clothing vehicle docking position of the airplane according to the airplane contour and the airplane parking state; wherein the ground suit vehicle docking position comprises a cabin door position, a supply port position and a discharge port position;
the programming module is used for programming the standby parking space position, the working parking space position and the driving route of the ground suit vehicle based on the ground suit vehicle docking position;
the generation module is used for generating an apron high-precision map based on the airplane outline, the airplane parking state, the standby parking space position, the working parking space position and the driving route.
9. An electronic device, comprising: memory, processor, and bus;
the bus is used for realizing connection communication between the memory and the processor;
the processor is used for executing the computer program stored on the memory;
the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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