CN114322983B - Lightweight map making method and device for mine automatic driving - Google Patents
Lightweight map making method and device for mine automatic driving Download PDFInfo
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Abstract
The invention discloses a lightweight map making method and device for mine automatic driving. Wherein the method comprises the following steps: acquiring position information of a complete route according to data acquisition equipment arranged on an automatic driving vehicle, and drawing an automatic driving map of the complete route; and when the changed road section is generated, updating the automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment. When the change road section occurs, the invention realizes the update of the complete road section information by updating the map of the change road section, simplifies the drawing process, improves the drawing efficiency and meets the requirements of the mine automatic driving scene on the lightweight map and the manufacturing efficiency thereof.
Description
Technical Field
The embodiment of the invention relates to the technical field of mine automatic driving, in particular to a lightweight map making method and device for mine automatic driving.
Background
The high-precision map is a cornerstone for realizing automatic driving. With the development of automatic driving technology, the related high-precision map and the manufacturing method thereof are also iteratively upgraded continuously. The method is widely applied at present, road data with various sensors (such as a laser radar, a camera, an inertial measurement unit, positioning equipment and the like) are collected and combined, collected data of different sensors are fused and overlapped, road elements such as road marks, road edges, signboards and traffic signs are identified and extracted, and a high-precision map for automatic driving is finally formed through complex data integration and processing.
For some specific autopilot application scenes, such as mine autopilot, on the one hand, due to the specificity of the scenes, no characteristic attributes of structured roads such as road marks, road edges and the like exist; on the other hand, in the loading/unloading area, the road environment changes with the change of the excavation area, and frequent updating of the map is required.
The existing high-precision map format and drawing mode are more specific to urban structured roads, multiple sensing data acquisition devices are needed, the drawing process is relatively complicated, and the requirements of specific automatic driving application scenes on lightweight maps and manufacturing efficiency of the lightweight maps cannot be met.
Disclosure of Invention
The invention provides a lightweight map making method and device for mine automatic driving, which are used for meeting the requirements of a mine automatic driving scene on the lightweight map and the making efficiency thereof.
In a first aspect, an embodiment of the present invention provides a method for manufacturing a lightweight map for mine autopilot, including:
S110, acquiring position information of a complete route according to data acquisition equipment arranged on an automatic driving vehicle, and drawing an automatic driving map of the complete route;
And S120, when the changed road section is generated, updating the automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment.
In a second aspect, an embodiment of the present invention further provides a lightweight map making apparatus for mine autopilot, including:
the automatic driving map drawing module is used for drawing an automatic driving map of the complete route according to the position information of the complete route acquired by the data acquisition equipment arranged on the automatic driving vehicle;
and the automatic driving map updating module is used for updating the automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment when the changed road section is generated.
According to the invention, the position information is acquired by only adopting the positioning device and the inertial navigation device, so that the content of position data acquisition is simplified, and the method is suitable for the application scene of mine automatic driving; and when the changed road section is generated, the information of the complete road section is updated only by updating the map of the changed road section, so that the drawing process is simplified, and the drawing efficiency is improved.
Drawings
FIG. 1 is a flow chart of a lightweight map making method for mine autopilot provided by an embodiment of the present invention;
Fig. 2 is a flowchart of a lightweight map making method for mine autopilot provided in a second embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a lightweight map making method for mine automatic driving according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle is automatically driven in a mine, and specifically includes the following steps:
s110, acquiring position information of a complete route according to data acquisition equipment arranged on the automatic driving vehicle, and drawing an automatic driving map of the complete route.
The data acquisition device in this embodiment includes a positioning device and an inertial navigation device, and mainly acquires position information acquisition time, position longitude and position latitude in the running process of an automatic driving vehicle. Compared with the multiple sensing data acquisition equipment in the prior art, the position information can be acquired only through the positioning device and the inertial navigation device in the embodiment, and the position information is matched with a scene corresponding to a mine, so that the process of map drawing is simplified.
The complete route is all routes which need to be driven when the mine automatic driving vehicle finishes tasks such as loading, unloading, charging and the like, and the complete route is not processed in a segmented mode according to the task attribute in the data acquisition stage.
Further, S110 specifically includes:
And S111, performing format conversion on the position information data of the complete route, and converting the position information data into data in an osm format.
Specifically, converting the collected data into data in an osm format refers to storing the collected position data into nodes of the osm format data, and creating a node id for each node.
S112, drawing a vector map of the complete route according to the converted data by using map editing software.
Using map editing software JOSM to open the converted data, and drawing a vector map of the complete route along the route acquired by the data acquisition equipment;
In a vector map of a complete route, the complete route is processed in a segmented mode according to different route segment task attributes, and corresponding road attributes are added to each segment of route;
and storing the vector map of the drawn complete route.
And S113, carrying out operation processing on the vector map of the complete route to form an automatic driving map of the complete route.
In this embodiment, interpolation and smoothing are performed on the vector map of the complete route, and heading attribute, curvature attribute, vehicle speed limit attribute and the like of each map node are calculated to form an automatic driving map usable by the planning control module.
Specifically, the interpolation calculation includes:
1) Presetting the point-to-point resolution d res of a map;
2) And circularly calculating and drawing the distance and the angle between two continuous nodes of the map, wherein the calculation formula is as follows:
αangle＝atan((xi-xi-1),(yi-yi-1))/180×π
3) According to the point-to-point resolution d res and the equal division d dis of the map, the actual equal division resolution between the two points is calculated as follows:
dres_act＝ddis/(ceil(ddis/dres))
4) According to the equal parts, the calculation formula of inserting points between two points is as follows:
yj＝yi+j×dres_act×sin(αangle/180×π)
Specifically, the above smoothing method has the following calculation model:
1) Objective function:
cost＝cost1+cost2+cost3
Where cost 1 is the smoothness cost, cost 2 is the length cost, and cost 3 is the offset cost from the original point.
2) Constraint: the constraints include three: position constraints, curvature constraints, relaxation variables.
xi-ref-xl≤xi≤xi-ref+xu
yi-ref-yl≤yi≤xi-ref+xu
0≤stacki≤+∞
(xi-1+xi+1-2×xi)2+(yi-1+yi+1-2×yi)2-stacki≤(Δs2×curcstr)2
Where Δs is the average length between discrete points, cur cstr is the maximum rate constraint, stack i is a relaxation variable greater than 0.
Specifically, the curvature attribute calculation method is as follows:
1) Fitting discrete points into polynomials by using least square curve fitting;
2) Calculating curvature:
Where a 2、a3、b2、b3 is the fitted polynomial coefficient.
Further, the automatic driving map of the complete route obtained in the embodiment contains information such as task road id, node position longitude, node position latitude, node heading angle, node curvature, node speed limit and the like of the node, so that the requirements of the mine-oriented automatic driving application scene on the lightweight map and the manufacturing efficiency thereof can be met.
And S120, when the changed road section is generated, updating the automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment.
In this embodiment, when the autonomous vehicle changes the task point of a part of the road section, the map of the changed road section needs to be updated. Road segments associated therewith need to be reworked, for example due to a change in mining position.
The step S120 specifically includes:
obtaining a local vector map of the changed road section according to the position information of the changed road section acquired by the data acquisition equipment;
splicing the local vector map of the changed road section to the corresponding task road section of the vector map of the complete route;
And re-determining the automatic driving map of the complete road section based on the vector map of the complete road section after the splicing.
Since the drawing process of the map of the changed road section is the same as the drawing process of the map of the complete road section, the description thereof will not be repeated.
The embodiment provides a lightweight map making method for mine automatic driving, which simplifies the content of position data acquisition by only adopting a positioning device and an inertial navigation device to acquire position information, and is suitable for application scenes of mine automatic driving; and when the changed road section is generated, the information of the complete road section is updated only by updating the map of the changed road section, so that the drawing process is simplified, and the drawing efficiency is improved.
Example two
Referring to fig. 2, an embodiment of the invention provides an operation example of a lightweight map making method for mine automatic driving, which relates to the making of a complete route map and the making of map updating caused by local route change.
The map making steps of the complete route are as follows:
Step one: allowing a driver to drive the vehicle, driving all routes on the complete set task, and collecting and storing position information when the vehicle drives the complete set route through integrated navigation equipment installed on the automatic driving vehicle;
Step two: converting the stored position data of the complete set route into road node data in an osm format and storing the road node data;
Step three: the converted data is opened by JOSM and the complete route is displayed at JOSM. And drawing a vector map along the travelling direction of the vehicle by utilizing JOSM drawing tools, adding road attributes according to different tasks, and dividing the whole road section into different task road sections.
Step four: and performing interpolation and smoothing processing, and calculating heading attribute, curvature attribute, vehicle speed limit attribute and the like of each map node to form an automatic driving map available to the planning control module.
Map update creation due to local route change:
Step one: allowing a driver to drive a vehicle and drive a route to be changed, and collecting and storing position information when the vehicle drives the route through integrated navigation equipment arranged on the automatic driving vehicle;
Step two: converting the stored position data of the complete set route into road node data in an osm format and storing the road node data;
Step three: forming two editable layers in JOSM by opening a previously complete given route map and collecting route data to be changed through JOSM;
step four: and at the layer of collecting the rerouted map, drawing a vector map of the rerouted by utilizing JOSM drawing tools and combining with a complete route map, and adding the attribute of the corresponding task segment.
Step five: splicing the changed vector map into a complete route vector map;
Step six: and performing interpolation and smoothing processing, and calculating heading attribute, curvature attribute, vehicle speed limit attribute and the like of each map node to form an automatic driving map available to the planning control module.
Example III
The third embodiment of the invention also provides a lightweight map making device for mine automatic driving, which comprises:
and the automatic driving map drawing module is used for drawing an automatic driving map of the complete route according to the position information of the complete route acquired by the data acquisition equipment arranged on the automatic driving vehicle.
The data acquisition equipment comprises a positioning device and an inertial navigation device.
The location information includes: acquisition time of location information, location longitude and location latitude.
The automatic driving map drawing module is specifically used for:
performing format conversion on the position information data of the complete route;
Drawing a vector map of the complete route according to the converted data by using map editing software;
And carrying out operation processing on the vector map of the complete route to form an automatic driving map of the complete route.
The operation processing for the vector map of the complete route comprises the following steps: and interpolating and smoothing the vector map of the complete route, and calculating the node heading angle, the node curvature and the node speed limit of each map node on the vector map of the complete route.
The vector map of the complete route is drawn according to the converted data, and the vector map comprises:
Using map editing software to open the converted data, and drawing a vector map of the complete route along the route acquired by the data acquisition equipment;
In a vector map of a complete route, the complete route is processed in a segmented mode according to different route segment task attributes, and corresponding road attributes are added to each segment of route;
and storing the vector map of the drawn complete route.
And the automatic driving map updating module is used for updating the automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment when the changed road section is generated.
Specifically, the automatic driving map updating module includes: obtaining a local vector map of the changed road section according to the position information of the changed road section acquired by the data acquisition equipment;
splicing the local vector map of the changed road section to the corresponding task road section of the vector map of the complete route;
And re-determining the automatic driving map of the complete road section based on the vector map of the complete road section after the splicing.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A lightweight map making method for mine automatic driving is characterized by comprising the following steps:
S110, acquiring position information of a complete route according to data acquisition equipment arranged on an automatic driving vehicle, and drawing an automatic driving map of the complete route;
S120, when a changed road section is generated, updating an automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment;
s110 specifically includes:
performing format conversion on the position information data of the complete route;
Drawing a vector map of the complete route according to the converted data by using map editing software;
Interpolation and smoothing processing are carried out on the vector map of the complete route so as to form an automatic driving map of the complete route;
the specific calculation process of the interpolation processing comprises the following steps:
1) Presetting the point-to-point resolution d res of a vector map;
2) The distance and the angle between two continuous points of the map are circularly calculated and drawn, and the calculation formula is as follows:
αangle＝atan((xi-xi-1),(yi-yi-1))/180×π
Where d dis is the distance between point (x i,yi) and point (x i-1,yi-1), α angle is the angle between point (x i,yi) and point (x i-1,yi-1);
3) D dis is equally divided according to the resolution d res between the points, and the actual equally divided resolution between the two points is calculated as follows:
dres_act＝ddis/(ceil(ddis/dres))
4) According to the equal division number, the calculation formula of inserting interpolation points between two points is as follows:
yj＝yi+j×dres_act×sin(αangle/180×π)
The calculation model of the smoothing process is as follows:
1) Objective function:
cost＝cost1+cost2+cost3
Wherein cost 1 is a smoothness cost, cost 2 is a length cost, and cost 3 is an offset cost from the original point (x i-ref,yi-ref);
2) The constraint model comprises:
Position constraint:
xi-ref-xl≤xi≤xi-ref+xu
yi-ref-yl≤yi≤xi-ref+xu
curvature constraint:
(xi-1+xi+1-2×xi)2+(yi-1+yi+1-2×yi)2-stacki≤(Δs2×curcstr)2
relaxation variables:
0≤stacki≤+∞
Where Δs is the average length between discrete points, cur cstr is the maximum curvature constraint, stack i is a relaxation variable greater than 0.
2. The method of claim 1, wherein using map editing software to map a vector map of a complete route from the converted data comprises:
Using map editing software to open the converted data, and drawing a vector map of the complete route along the route acquired by the data acquisition equipment;
In a vector map of a complete route, the complete route is processed in a segmented mode according to different route segment task attributes, and corresponding road attributes are added to each segment of route;
and storing the vector map of the drawn complete route.
3. The method of claim 1, wherein the data acquisition device comprises a positioning device and an inertial navigation device.
4. The method of claim 1, wherein the location information comprises: acquisition time of location information, location longitude and location latitude.
5. The method according to claim 1, wherein S120 specifically comprises:
obtaining a local vector map of the changed road section according to the position information of the changed road section acquired by the data acquisition equipment;
splicing the local vector map of the changed road section to the corresponding task road section of the vector map of the complete route;
And re-determining the automatic driving map of the complete road section based on the vector map of the complete road section after the splicing.
6. The method of claim 1, wherein the computing the vector map of the complete route comprises: and interpolating and smoothing the vector map of the complete route.
7. The method of claim 1, operating on the vector map of the complete route, further comprising:
And calculating the node heading angle, the node curvature and the node speed limit of each map node on the vector map of the complete route.
8. An apparatus based on the mine autopilot-oriented lightweight mapping method of any one of claims 1-7, comprising:
the automatic driving map drawing module is used for drawing an automatic driving map of the complete route according to the position information of the complete route acquired by the data acquisition equipment arranged on the automatic driving vehicle;
and the automatic driving map updating module is used for updating the automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment when the changed road section is generated.
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