WO2023279878A1

WO2023279878A1 - Shared slam map using method and device for vehicle

Info

Publication number: WO2023279878A1
Application number: PCT/CN2022/094885
Authority: WO
Inventors: 刘烨航; 谭龙庆; 李伟
Original assignee: 灵动科技（北京）有限公司
Priority date: 2021-07-05
Filing date: 2022-05-25
Publication date: 2023-01-12
Also published as: CN115587151A

Abstract

A shared SLAM map using method and device for a vehicle. The method comprises: obtaining first position information and second position information of at least two points on a predetermined driving path of the vehicle relative to the vehicle and to a creation vehicle for creating a shared SLAM map, respectively (S1); obtaining third position information and fourth position information of at least one identifier on the vehicle relative to the vehicle and to the creation vehicle, respectively (S2); and determining position conversion information according to the first position information, the second position information, the third position information, and the fourth position information (S3). According to the shared SLAM map using method and device for the vehicle, the position conversion information capable of representing a detection difference between the present vehicle and the creation vehicle can be efficiently and accurately determined by means of position information of a same point on the driving path respectively detected by the present vehicle and the creation vehicle and identifier information of the present vehicle.

Description

Method and device for using shared SLAM map for vehicles

technical field

The present invention relates to the field of positioning, in particular, to a method and device for using a shared SLAM map for vehicles.

Background technique

Intelligent driving equipment (eg, AGV, AMR) etc. can create SLAM maps through different SLAM methods during driving, so as to facilitate the driving of the intelligent driving equipment (eg, AGV, AMR).

However, due to the different coordinate systems (for example, camera, lidar coordinate system) used by different intelligent driving devices to create SLAM maps, the SLAM maps created by different driving devices in the same space are not the same. Therefore, the SLAM map created by the driving device can only be used by itself, and other driving devices cannot use the SLAM map created by it.

Contents of the invention

The object of the present invention is to provide a method and device for using a shared SLAM map for vehicles.

According to an aspect of the present invention, there is provided a method for using a shared SLAM map for a vehicle, the method comprising: obtaining a first position of at least two points on a predetermined travel path of the vehicle relative to the vehicle Information and second position information relative to the creation vehicle used to create a shared SLAM map; obtain at least one identification on the vehicle relative to the third position information of the vehicle and fourth position information relative to the creation vehicle; according to The first position information, the second position information, the third position information and the fourth position information determine the position conversion information, wherein the position conversion information is used to convert any point detected by the vehicle on the predetermined driving route into a shared Corresponding points in the SLAM map.

Optionally, the first position information of the at least two points detected by the vehicle at at least two detection positions and the first position information of the created vehicle are acquired by synchronously driving the vehicle and the created vehicle on the predetermined driving route. Second position information of the at least two points detected at the at least two detection positions respectively.

Optionally, by creating a vehicle, when the vehicle respectively detects the at least two points, the fourth position information of at least one identification on the vehicle detected by the creation vehicle; by using an identification database, obtaining the the third position information of the at least one sign, and/or obtain the third position information of the at least one sign detected by the vehicle through the vehicle, wherein the sign database includes each sign on the vehicle and each The location information of each identifier relative to the vehicle.

Optionally, the at least two points include a first point and a second point, and the first position information includes: first sub-position information of the first point relative to the vehicle and second sub-position information of the second point relative to the vehicle Two sub-position information, the second position information includes: the third sub-position information of the first point relative to the created vehicle and the fourth sub-position information of the second point relative to the created vehicle.

Optionally, the at least one identifier includes a first identifier and a second identifier, wherein the first identifier and the second identifier respectively represent an identifier on the vehicle detected by the created vehicle corresponding to the first point and the second point , wherein the third position information includes: the fifth sub-position information of the first identification relative to the vehicle and the sixth sub-position information of the second identification relative to the vehicle; the fourth position information includes: the first identification relative to the vehicle The seventh sub-position information of the created vehicle and the second identifier are relative to the eighth sub-position information of the created vehicle.

Optionally, the vehicle includes a single marker, wherein the first marker and the second marker respectively represent the markers on the vehicle detected by the creation vehicle corresponding to the first point and the second point.

Optionally, the vehicle includes a plurality of identifications, wherein the first identification and the second identification respectively represent two or more identifications on the vehicle detected by the creation vehicle corresponding to the first point and the second point The closest ID to the vehicle being created.

Optionally, each of the plurality of identifications has a corresponding identification code, and the method further includes: acquiring the identification code of the first identification and the identification code of the second identification that create the vehicle detection, wherein, according to the first The identification code of the identification and the identification code of the second identification, obtain the fifth sub-position information and the sixth sub-position information through the identification database, and/or obtain the fifth sub-position information and the sixth sub-position information detected by the vehicle through the vehicle Sub-location information, wherein the identification database includes each identification, an identification code corresponding to each identification, and position information of each identification relative to the vehicle.

Optionally, the predetermined travel route is a straight travel route, wherein, according to the first position information, the second position information, the third position information and the fourth position information, the step of determining the position conversion information includes: according to the first sub-position information, the third sub-position information, the fifth sub-position information and the seventh sub-position information, determine the first position conversion information; according to the second sub-position information, the fourth sub-position information, the sixth sub-position information and the eighth sub-position information to determine second position conversion information; and determine the position conversion information according to the first sub-position information, the second sub-position information, the first position conversion information and the second position conversion information.

Optionally, the first sub-position information is the first coordinate matrix of the first point relative to the first coordinate system, the second sub-position information is the second coordinate matrix of the second point relative to the first coordinate system, and the third sub-position The information is the third coordinate matrix of the first point relative to the second coordinate system, the fourth sub-position information is the fourth coordinate matrix of the second point relative to the second coordinate system, and the fifth sub-position information is the first mark to the first The first logo conversion matrix of the origin of the coordinate system, the sixth sub-position information is the second logo transformation matrix from the second logo to the origin of the first coordinate system, and the seventh sub-position information is the first logo relative to the second coordinate system The fifth coordinate matrix, the eighth sub-position information is the sixth coordinate matrix of the second logo relative to the second coordinate system, wherein the first coordinate system is the detection coordinate system of the vehicle, and the second coordinate system is the detection coordinate system of the created vehicle Coordinate System.

Optionally, _{the first coordinate matrix X F_i} ₌ _X ( _{x F_i} _, _y _{F_i} ,θ _{F_i} ), the second coordinate matrix X _{F_j} =X(x _{F_j} ,y _{F_j} ,θ _{F_j} ), the third coordinate matrix X _{A_i} =X(x _{A_i} ,y _{A_i} ,θ _{A_i} ), the fourth coordinate matrix X _{A_j} = X(x _{A_j} ,y _{A_j} ,θ _{A_j} ), the fifth coordinate matrix

and the sixth coordinate matrix

Among them, x _F/A is used to represent x _{F_i} , x _{F_j} , x _{A_i} , x _{A_j} ,

or

y _F/A is used to denote the corresponding y _{F_i} , y _{F_j} , y _{A_i} , x _{A_j} ,

or

θ _F/A is used to represent the corresponding θ _{F_i} , θ _{F_j} , θ _{A_i} , θ _{A_j} ,

or

Among them, x _{F_i} and y _{F_i} respectively represent the abscissa and ordinate of the first point i in the first xy coordinate plane of the first coordinate system F, θ _{F_i} represents the angle of the first point i relative to the first xy coordinate plane, x _{F_j} and y _{F_j} respectively represent the abscissa and ordinate of the second point j on the first xy coordinate plane, θ _{F_j} represents the angle of the second point j relative to the first xy coordinate plane, x _{A_i} and y _{A_i} represent the first point respectively The abscissa and ordinate of i in the second xy coordinate plane of the second coordinate system A, θ _{A_i} represents the angle of the first point i relative to the second xy coordinate plane, x _{A_j} and y _{A_j} respectively represent the second point j at the The abscissa and ordinate of the two xy coordinate planes, θ _{A_j} represents the angle of the second point j relative to the second xy coordinate plane,

and

Respectively represent the abscissa and ordinate of the first mark _Mn on the second xy coordinate plane,

Indicates the angle of the first marker M _n relative to the second xy coordinate plane,

and

represent the abscissa and ordinate of the second mark _Mp on the second xy coordinate plane respectively,

represents the angle of the second marker M _p relative to the second xy coordinate plane.

Optionally, the first identification transformation matrix is represented by the following matrix

Among them, the second identification transformation matrix is represented by the following matrix

in,

and

Respectively represent the abscissa and ordinate of the first mark _Mn on the first xy coordinate plane of the first coordinate system F,

Indicates the angle of the first mark M _n relative to the first xy coordinate plane,

and

respectively represent the abscissa and ordinate of the second mark _Mp on the first xy coordinate plane,

represents the angle of the second marker M _p relative to the first xy coordinate plane.

Optionally, the first position conversion information is determined by the following equation

Wherein, the second position conversion information is determined by the following equation

Optionally, the position conversion information is determined by the following equation

in,

Wherein, x _{F_k} and y _{F_k} respectively denote the abscissa and ordinate of any point k detected by the vehicle on the predetermined driving route on the first xy coordinate plane of the first coordinate system F.

Optionally, when the vehicle detects the arbitrary point k on the predetermined driving path, and obtains the arbitrary point coordinate matrix X _{F_k} of the arbitrary point k represented by the following equation:

The corresponding point matrix X _{A_k} of the corresponding point of the arbitrary point k in the shared SLAM map is determined by the following equation:

Among them, θ _{F_k} represents the angle of the arbitrary point k relative to the first xy coordinate plane of the first coordinate system F, wherein x _{A_k} and y _{A_k} respectively represent the corresponding points of the arbitrary point k in the shared SLAM map at The abscissa and ordinate of the second xy coordinate plane of the two-coordinate system A, θ _{A_k} represents the angle of the corresponding point of the arbitrary point k in the shared SLAM map relative to the second xy coordinate plane.

According to another aspect of the present invention, there is provided a device for using a shared SLAM map for a vehicle, the device comprising: a first acquisition unit configured to be able to acquire at least two The first position information of a point relative to the vehicle and the second position information relative to the vehicle used to create the shared SLAM map; the second acquisition unit is configured to be able to acquire at least one identification on the vehicle relative to The third position information related to the vehicle and the fourth position information relative to the created vehicle; the determination unit is configured to be able to determine according to the first position information, the second position information, the third position information and the fourth position information Position conversion information, wherein the position conversion information is used to convert any point detected by the vehicle on the predetermined driving route into a corresponding point in the shared SLAM map.

According to another aspect of the present invention, there is provided a computer program product, wherein the computer program product comprises a computer program which, when executed by a processor, causes the processor to implement the system for a vehicle according to the present invention. Use the method of sharing SLAM maps.

According to the method and device for using a shared SLAM map for a vehicle of the present invention, it is possible to efficiently and accurately determine The position transformation information that can represent the detection difference between the self-vehicle and the created vehicle enables the self-vehicle to accurately use the shared SLAM map created by other created vehicles.

Description of drawings

The foregoing and other aspects of the invention will be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, which include:

Fig. 1 shows a flowchart of a method for using a shared SLAM map for a vehicle according to an exemplary embodiment of the present invention.

Fig. 2 shows a schematic diagram of multiple marks on a vehicle according to an exemplary embodiment of the present invention.

Fig. 3 shows a flow chart of the steps of determining position conversion information in the method for using a shared SLAM map for a vehicle according to an exemplary embodiment of the present invention.

Fig. 4 shows a block diagram of an apparatus for a vehicle using a shared SLAM map according to an exemplary embodiment of the present invention.

detailed description

Hereinafter, some exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings in order to better understand the basic idea and advantages of the present invention.

In step S1, the first position information of at least two points on the predetermined driving route of the vehicle relative to the vehicle and the second position information relative to the created vehicle for creating a shared SLAM map are acquired.

In one embodiment, the predetermined travel path may be a straight travel path.

For example, the creation vehicle used to create a shared SLAM map can be an AGV, AMR, etc. driving in a warehouse. The vehicle that needs to use the shared SLAM map (for convenience of description, also referred to herein as "the vehicle" or "the vehicle") may be a vehicle that can travel back and forth on one or more straight-line travel paths, such as a forklift. For example, forklifts typically travel back and forth in straight lines within a warehouse to move goods.

In order to execute the method shown in FIG. 1, as an example, the self-vehicle and the creation vehicle can be made to travel together on a straight path on which the self-vehicle needs to travel back and forth, that is, they are mixed in the same field, so that the self-vehicle and the creation vehicle can be on the path. The same point is detected or mutually detected.

In one embodiment, in step S1, the at least two points respectively detected by the vehicle at at least two detection positions can be obtained by synchronously driving the vehicle and the creation vehicle on the predetermined driving route. The first position information and the second position information of the at least two points detected by the vehicle at the at least two detection positions are created.

In other words, the first position information obtained in step S1 may be the position information of a point on the straight-line driving path detected by the own vehicle (for example, a forklift), and the second position information may be the creation vehicle (for example, AGV) traveling together with the own vehicle. , AMR) to detect the position information of the same point.

In one embodiment, the own vehicle and the created vehicle may only detect two points on the predetermined driving route, that is, the at least two points may only include the first point and the second point.

At this time, as an example, the first position information may include: first sub-position information of the first point relative to the vehicle and second sub-position information of the second point relative to the vehicle. The second position information may include: third sub-position information of the first point relative to the creation vehicle and fourth sub-position information of the second point relative to the creation vehicle.

At the same time or before or after step S1 is performed, step S2 may be performed to obtain third position information of at least one marker on the vehicle relative to the vehicle and fourth position information relative to the created vehicle.

In the above example, when the vehicle and the created vehicle are synchronously driving on the predetermined driving route, in one embodiment, in step S2, the created vehicle can be used to obtain points, creating fourth position information of at least one identification on the vehicle detected by the vehicle. Afterwards, the third position information of the at least one marker may be acquired through the marker database, and/or the third position information of the at least one marker detected by the vehicle may be acquired through the vehicle. The identification database may include individual identifications on the vehicle and location information for each identification relative to the vehicle.

In one embodiment, the vehicle, ie the host vehicle, may include single or multiple identifications. For example, each identification of the own vehicle may have a corresponding ID, and the position information of each identification relative to the own vehicle, such as the above third position information, may be obtained in advance and stored corresponding to the ID of the identification.

For example, the multiple marks on the own vehicle may be parts of different parts of the own vehicle, or may be multiple marks set, eg pasted, at different positions on the own vehicle.

Figure 2 shows the host vehicle as a forklift. From the top view of the forklift shown in FIG. 2 , it can be seen that four signs M ₁ , M ₂ , M ₃ and M ₄ are pasted on the front, back, left, and right sides of the forklift, for example.

It should be understood that the number and setting positions of the signs shown in FIG. 2 are only examples, and more or fewer signs can be set in different positions according to actual needs, and the signs set on the vehicle can have any form, such as vehicle components, Reflective strips, QR codes, etc.

In the case where step S1 in FIG. 1 only detects the position information of two points on the route, that is, the first point and the second point, in one embodiment, the at least one identification in step S2 may include the first identification and the second identification, wherein the first identification and the second identification may respectively represent an identification detected by the created vehicle corresponding to the first point and the second point. The third position information may include: the fifth sub-position information of the first identification relative to the vehicle and the sixth sub-position information of the second identification relative to the vehicle; the fourth position information may include: the first identification relative to the created The seventh sub-position information of the vehicle and the second identifier are relative to the eighth sub-position information of the vehicle.

In one embodiment, in the case that the vehicle (this vehicle) includes a single marker, the first marker and the second marker may represent the created vehicle corresponding to the first point and the second point detected on the vehicle said identity.

In other words, at this time, the first marker and the second marker may be different representations of the same marker on the vehicle at different detection positions.

In another embodiment, in the case that the vehicle includes multiple markers, the first marker and the second marker may respectively indicate that the created vehicle corresponds to the first point and the second point detected on the vehicle. Or the one that is closest to the vehicle to be created among the two or more identities.

At this point, each of the multiple identifiers may have a corresponding identification code. In this case, in one embodiment, the method for using a shared SLAM map for a vehicle according to the present invention may further include: acquiring the identification code of the first identification and the identification code of the second identification that create the vehicle detection.

In this case, in step S2, according to the identification code of the first identification and the identification code of the second identification, the fifth sub-position information and the sixth sub-position information can be obtained through the identification database, and/or the vehicle can The fifth sub-position information and the sixth sub-position information detected by the vehicle are acquired. At this time, the identification database includes each identification, an identification code corresponding to each identification, and position information of each identification relative to the vehicle.

For example, when the self-vehicle and the creation vehicle are traveling together on the route, when the self-vehicle detects (for example, the first point or the second point) on the route (to obtain the first position information), the creation vehicle The current position of the created vehicle can be determined (that is, the same first point or second point is detected to obtain the second position information), and the marks on the vehicle are detected. When two or more marks are detected, Determining the location (i.e., the fourth position information) of the most recent identification (i.e., the corresponding first identification or second identification) relative to the creation vehicle and (for example, obtaining the pre-stored identification code (ID) of the identification code (ID) logo) relative to the position of the own vehicle (that is, the third position information).

At this time, in order to prevent the creation vehicle from detecting the identification of other vehicles other than the own vehicle and mistakenly determining it as the identification of the own vehicle, it is possible to create a vehicle that detects two or more identifications of the own vehicle each time. , it is determined that the detected identity is the identity of the vehicle. In addition, the creation vehicle may only determine the position information of one of the detected signs (for example, the nearest sign) relative to the creation vehicle, that is, the fourth position information.

After obtaining the above information in steps S1 and S2, step S3 may be performed to determine position conversion information according to the first position information, the second position information, the third position information and the fourth position information, wherein the position conversion information is used to convert the Any point detected by the vehicle on the predetermined travel path is converted into a corresponding point in the shared SLAM map.

Fig. 3 shows a flow chart of step S3 of determining position conversion information in a method for using a shared SLAM map for a vehicle according to an exemplary embodiment of the present invention.

Referring to Fig. 3, in step S31, according to the first sub-position information (the first point is relative to the own vehicle), the third sub-position information (the first point is relative to the created vehicle), (the first mark is relative to the own vehicle) The fifth sub-position information and the seventh sub-position information (of the first identification relative to the created vehicle) determine the first position transformation information.

In other words, the first position conversion information is conversion information obtained by creating position information of the first point relative to the own vehicle and creating position information of the first marker relative to the own vehicle.

In step S32, according to the second sub-position information (the second point relative to the own vehicle), the fourth sub-position information (the second point relative to the created vehicle), and the sixth sub-position information (the second mark relative to the own vehicle) The sub-position information and the eighth sub-position information (the second identifier relative to the created vehicle) determine the second position transformation information.

In other words, the second position conversion information is conversion information obtained by creating position information of the vehicle with respect to the second point relative to the own vehicle and creating position information of the vehicle with respect to the second marker relative to the own vehicle.

It should be understood that the identifiers used in step S31 and step S32, that is, the first identifier and the second identifier detected by the created vehicle may be the same or different.

In step S33, the position conversion information is determined according to the first sub-position information, the second sub-position information, the first position conversion information and the second position conversion information.

Here, by using both the two points on the driving path of the own vehicle and the marker on the own vehicle relative to the own vehicle and the respective position information (first to fourth position information) of the creation vehicle, the own vehicle can be precisely determined. The detection difference between the vehicle and the creation vehicle, that is, the above position conversion relationship, so that the vehicle can quickly and accurately express any point on the driving path detected by the vehicle as the corresponding point in the shared SLAM map through the position conversion relationship , that is, enabling the vehicle to efficiently and accurately use the shared SLAM maps created by other vehicles.

In the following, the method shown in FIG. 1 is further described by means of corresponding formula expressions.

The respective sub-position information included in the first position information and the second position information obtained in step S1 may be information obtained through the own vehicle or corresponding point coordinate information detected by the created vehicle.

In an embodiment, the first sub-position information in the first position information may be a first coordinate matrix of the first point relative to the first coordinate system. The second sub-position information in the first position information may be a second coordinate matrix of the second point relative to the first coordinate system. The third sub-position information in the second position information may be a third coordinate matrix of the first point relative to the second coordinate system. The fourth sub-position information in the second position information may be a fourth coordinate matrix of the second point relative to the second coordinate system.

The fifth sub-position information in the third position information obtained in step S2 may be a first identification transformation matrix from the first identification to the origin of the first coordinate system. The sixth sub-position information in the third position information may be a transformation matrix of the second identification from the second identification to the origin of the first coordinate system. The seventh sub-position information in the fourth position information may be a fifth coordinate matrix of the first identifier relative to the second coordinate system. The eighth sub-position information in the fourth position information is the sixth coordinate matrix of the second identifier relative to the second coordinate system.

At this time, the first coordinate system may be the detection coordinate system of the vehicle (own vehicle), and the second coordinate system may be the detection coordinate system of the created vehicle.

For example, each of the above coordinate matrices may represent a corresponding point or identify a conversion relationship to the origin of a corresponding coordinate system.

In one embodiment, the first coordinate matrix to the sixth coordinate matrix above can all have the coordinate matrix X _F/A =X(x _F/A , y _F/A , θ _F/A represented by the following equation (1) )form:

As an example, the first coordinate matrix may be expressed as X _{F_i} =X(x _{F_i} , y _{F_i} , θ _{F_i} ). The second coordinate matrix can be expressed as X _{F_j} =X(x _{F_j} , y _{F_j} , θ _{F_j} ). The third coordinate matrix can be expressed as X _{A_i} =X(x _{A_i} , y _{A_i} , θ _{A_i} ). The fourth coordinate matrix can be expressed as X _{A_j} =X(x _{A_j} , y _{A_j} , θ _{A_j} ). The fifth coordinate matrix can be expressed as

The sixth coordinate matrix can be expressed as

In other words, x _F/A in the general equation (1) above can be used to represent x _{F_i} , x _{F_j} , x _{A_i} , x _{A_j} ,

or

y _F/A in equation (1) above can be used to denote the corresponding y _{F_i} , y _{F_j} , y _{A_i} , x _{A_j} ,

or

θ _F/A in equation (1) above can be used to denote the corresponding θ _{F_i} , θ _{F_j} , θ _{A_i} , θ _{A_j} ,

or

At this time, x _{F_i} and y _{F_i} in the first coordinate matrix may represent the abscissa and ordinate of the first point i on the first xy coordinate plane of the first coordinate system F, respectively. θ _{F_i} may represent an angle of the first point i with respect to the first xy coordinate plane. That is, the coordinates of the first point i in the first coordinate system F may be (x _{F_i} , y _{F_i} , θ _{F_i} ).

In addition, x _{F_j} and y _{F_j} in the second coordinate matrix may represent the abscissa and ordinate of the second point j on the first xy coordinate plane, respectively. θ _{F_j} may represent an angle of the second point j with respect to the first xy coordinate plane. That is, the coordinates of the second point j in the first coordinate system F may be (x _{F_j} , y _{F_j} , θ _{F_j} ).

In addition, x _{A_i} and y _{A_i} in the third coordinate matrix may represent the abscissa and ordinate of the first point i on the second xy coordinate plane of the second coordinate system A, respectively. θ _{A_i} may represent an angle of the first point i with respect to the second xy coordinate plane. That is, the coordinates of the first point i in the second coordinate system A may be (x _{A_i} , y _{A_i} , θ _{A_i} ).

In addition, x _{A_j} and y _{A_j} in the fourth coordinate matrix may represent the abscissa and ordinate of the second point j on the second xy coordinate plane, respectively. θ _{A_j} may represent an angle of the second point j with respect to the second xy coordinate plane. That is, the coordinates of the second point j in the second coordinate system A may be (x _{A_j} , y _{A_j} , θ _{A_j} ).

In addition, the fifth coordinate matrix in

and

The abscissa and ordinate of the second xy coordinate plane of the first marker _Mn in the second coordinate system A can be represented respectively.

may represent the angle of the first marker M _n relative to the second xy coordinate plane. That is, the coordinates of the first marker _Mn in the second coordinate system A can be

In addition, the sixth coordinate matrix in

and

can respectively represent the abscissa and ordinate of the second mark M _p on the second xy coordinate plane,

may represent the angle of the second marker M _p relative to the second xy coordinate plane. That is, the coordinates of the second marker _Mp in the second coordinate system A can be

It should be understood that the abscissa, ordinate and angle defined above are only used to locate the corresponding point or identify the position in the corresponding coordinate system (for example, in the camera coordinate system of a forklift, in the camera or lidar coordinates of an AGV or AMR vehicle) As an example, according to actual needs, any other limiting method capable of positioning the corresponding point or mark in the corresponding coordinate system can be used to define the above abscissa, ordinate and angle.

In the case where the first coordinate matrix to the sixth coordinate matrix have the matrix form shown in the above equation (1), in one embodiment, the third position information obtained in step S2 can be represented by the following matrix (2): The first identity transformation matrix of

The second identification transformation matrix in the third position information obtained in step S2 can be expressed by the following equation (3):

at this time,

and

The abscissa and ordinate of the first marker _Mn on the first xy coordinate plane of the first coordinate system F can be represented respectively.

represents the angle of the first marker M _n relative to the first xy coordinate plane. That is, the coordinates of the first marker _Mn in the first coordinate system F can be

and

can respectively represent the abscissa and ordinate of the second mark _Mp on the first xy coordinate plane,

represents the angle of the second marker M _p relative to the first xy coordinate plane. That is, the coordinates of the second marker M _p in the first coordinate system F can be

After that, in step S31, the first position conversion information can be determined by the following equation (4):

In step S32, the second position conversion information can be determined by the following equation (5):

It should be understood that when the creation vehicle detects the same nearest sign on the vehicle corresponding to the first point and the second point, that is, when the first sign and the second sign are the same, the signs in the above equations (4) and (5) transformation matrix

and

Can be the same.

Afterwards, in step S33, the position conversion information can be determined by the following equation (6):

in,

Wherein, x _{F_k} and y _{F_k} respectively denote the abscissa and ordinate of any point k detected by the vehicle on the predetermined travel route in the first xy coordinate plane of the first coordinate system F (of the own vehicle).

Conversion information at the above position obtained

After that, the position of any point k detected by the own vehicle in the shared SLAM map can be determined during the driving process of the own vehicle on the predetermined travel route (straight-line travel route).

In one embodiment, when the vehicle detects the arbitrary point k on the predetermined travel path, and obtains the arbitrary point coordinate matrix X _{F_k} expressed by the following equation (7) of the arbitrary point k:

The corresponding point matrix X _{A_k} of the corresponding point of the arbitrary point k in the shared SLAM map can be determined by the following equation (8):

In the above equation, θ _{F_k} may represent an angle of the arbitrary point k relative to the first xy coordinate plane of the first coordinate system F.

x _{A_k} and y _{A_k} can respectively represent the abscissa and ordinate of the corresponding point of the arbitrary point k in the shared SLAM map on the second xy coordinate plane of the second coordinate system A, and θ _{A_k} can represent the arbitrary point k in The angle of the corresponding point in the shared SLAM map relative to the second xy coordinate plane. In other words, the coordinates of any point k detected by the vehicle in the shared SLAM map can be determined as (x _{A_k} , y _{A_k} , θ _{A_k} ) by the above equation (8).

According to the method for using a shared SLAM map for a vehicle of the present invention, it can be efficiently and accurately determined by using the position information of the same point on the driving route detected by the own vehicle and the creation vehicle and the identification information on the own vehicle. The position transformation information of the detection difference between the self-vehicle and the created vehicle enables the self-vehicle to accurately use the shared SLAM map created by other created vehicles.

Referring to FIG. 4 , the device for using a shared SLAM map for a vehicle according to the present invention includes: a first acquisition unit 1 , a second acquisition unit 2 and a determination unit 3 .

The first acquisition unit 1 is configured to be able to acquire first position information of at least two points on the predetermined travel path of the vehicle relative to the vehicle and second position information relative to the created vehicle for creating a shared SLAM map .

The second acquiring unit 2 is configured to be able to acquire third position information of at least one marker on the vehicle relative to the vehicle and fourth position information relative to the created vehicle.

The determining unit 3 is configured to be able to determine position conversion information according to the first position information, the second position information, the third position information and the fourth position information, wherein the position conversion information is used to place the vehicle on the predetermined travel route Any point detected on is converted to the corresponding point in the shared SLAM map.

The determination of the first location information, the second location information, the third location information, the fourth location information, and the location conversion information has been described in detail above with reference to FIG. 1 and FIG. 2 , and will not be repeated here.

According to the device for using a shared SLAM map for a vehicle of the present invention, it can efficiently and accurately determine the position information of the same point on the driving route detected by the own vehicle and the creation vehicle and the identification information on the own vehicle. The position transformation information of the detection difference between the self-vehicle and the created vehicle enables the self-vehicle to accurately use the shared SLAM map created by other created vehicles.

According to an exemplary embodiment of the present invention there is also provided a computer program product, wherein the computer program product comprises a computer program which, when executed by a processor, causes the processor to implement the system for a vehicle according to the present invention. Use the method of sharing SLAM maps. A computer program product may comprise a computer program, program code, instructions, or some combination thereof, for individually or collectively instructing or configuring hardware devices to operate as desired. A computer program and/or program code may comprise a program or computer readable instructions executable by one or more hardware devices, software components, software modules, data files, data structures, etc. Examples of program code may include machine code generated by a compiler and higher level program code executed using an interpreter.

Exemplary embodiments according to the present invention also provide a computer-readable recording medium storing a computer program, wherein the computer program is configured to, when executed by a processor, implement the shared SLAM map for vehicles according to the present invention Methods. The computer-readable recording medium is any data storage device that can store data read by a computer system. Examples of computer-readable recording media include: read-only memory, random-access memory, optical disc, magnetic tape, floppy disk, optical data storage devices, and carrier waves (such as data transmission over the Internet via wired or wireless transmission paths). The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed manner. In addition, functional programs, codes, and code segments that implement the present invention can be easily interpreted by ordinary programmers in the fields related to the present invention within the scope of the present invention.

Furthermore, each unit in the above-described apparatuses and apparatuses according to exemplary embodiments of the present invention may be implemented as hardware components or software modules. In addition, those skilled in the art can realize each unit by using, for example, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or a processor according to the processes performed by each defined unit.

Although the invention is illustrated and described herein with reference to particular embodiments, the invention is not limited to the details shown. Rather, various modifications may be made to these details within the scope of the invention.

List of reference signs

S1 Obtain the first position information of at least two points on the predetermined travel path of the vehicle relative to the vehicle and the second position information relative to the created vehicle for creating a shared SLAM map

S2 Obtain third position information of at least one sign on the vehicle relative to the vehicle and fourth position information relative to the created vehicle

S3 Determine position conversion information according to the first position information, the second position information, the third position information and the fourth position information

S31 Determine the first position conversion information according to the first sub-position information, the third sub-position information, the fifth sub-position information and the seventh sub-position information

S32 Determine the second position conversion information according to the second sub-position information, the fourth sub-position information, the sixth sub-position information and the eighth sub-position information

S33 Determine the position conversion information according to the first sub-position information, the second sub-position information, the first position conversion information and the second position conversion information

M ₁ , M ₂ , M ₃ , M ₄ logo

1 first acquisition unit

2 first acquisition unit

3 determine unit

Claims

A method for using a shared SLAM map for a vehicle, the method comprising:

Acquiring first position information of at least two points on the predetermined travel path of the vehicle relative to the vehicle and second position information relative to the created vehicle for creating a shared SLAM map;

Obtaining third position information of at least one marker on the vehicle relative to the vehicle and fourth position information relative to the created vehicle;

According to the first position information, the second position information, the third position information and the fourth position information, the position conversion information is determined, wherein the position conversion information is used to convert any point detected by the vehicle on the predetermined driving route into Share corresponding points in the SLAM map.
The method according to claim 1, wherein the at least two points respectively detected by the vehicle at at least two detection positions are obtained by synchronously driving the vehicle and the creation vehicle on the predetermined travel route. The first position information and the second position information of the at least two points detected by the vehicle at the at least two detection positions are created.
The method according to claim 2, wherein, by creating a vehicle, the fourth position information of at least one sign on the vehicle detected by the created vehicle when the vehicle respectively detects the at least two points is obtained;

Obtaining the third position information of the at least one identification through the identification database, and/or obtaining the third position information of the at least one identification detected by the vehicle through the vehicle,

Wherein, the identification database includes each identification on the vehicle and the position information of each identification relative to the vehicle.
The method of claim 3, wherein the at least two points comprise a first point and a second point,

The first position information includes: first sub-position information of the first point relative to the vehicle and second sub-position information of the second point relative to the vehicle,

The second position information includes: third sub-position information of the first point relative to the created vehicle and fourth sub-position information of the second point relative to the created vehicle.
The method according to claim 4, wherein the at least one identification includes a first identification and a second identification, wherein the first identification and the second identification respectively indicate that the created vehicle corresponds to the first point and the second point detected a sign on said vehicle,

Wherein, the third position information includes: the fifth sub-position information of the first identifier relative to the vehicle and the sixth sub-position information of the second identifier relative to the vehicle;

The fourth position information includes: seventh sub-position information of the first identifier relative to the created vehicle and eighth sub-position information of the second identifier relative to the created vehicle.
The method of claim 5, wherein the vehicle includes a single identification,

Wherein, the first identifier and the second identifier represent the identifiers on the vehicle detected by the created vehicle corresponding to the first point and the second point, respectively.
The method of claim 6, wherein the vehicle includes a plurality of identifications,

Wherein, the first mark and the second mark respectively represent the mark closest to the creation vehicle among the two or more marks on the vehicle detected by the creation vehicle corresponding to the first point and the second point.
The method of claim 7, wherein each of the plurality of identities has a corresponding identification code,

The method further includes: obtaining an identification code for creating a first identification of a vehicle detection and an identification code for a second identification,

Wherein, according to the identification code of the first identification and the identification code of the second identification, the fifth sub-position information and the sixth sub-position information are obtained through the identification database, and/or the fifth sub-position information detected by the vehicle is obtained through the vehicle. location information and sixth sub-location information,

Wherein, the identification database includes each identification, an identification code corresponding to each identification, and position information of each identification relative to the vehicle.
The method according to any one of claims 5 to 8, wherein the predetermined travel path is a straight travel path,

Wherein, according to the first location information, the second location information, the third location information and the fourth location information, the step of determining the location conversion information includes:

determining first position conversion information according to the first sub-position information, the third sub-position information, the fifth sub-position information and the seventh sub-position information;

determining second position conversion information according to the second sub-position information, the fourth sub-position information, the sixth sub-position information, and the eighth sub-position information;

The position conversion information is determined according to the first sub-position information, the second sub-position information, the first position conversion information and the second position conversion information.
The method of claim 9, wherein,

The first sub-position information is the first coordinate matrix of the first point relative to the first coordinate system,

The second sub-position information is a second coordinate matrix of the second point relative to the first coordinate system,

The third sub-position information is a third coordinate matrix of the first point relative to the second coordinate system,

The fourth sub-position information is the fourth coordinate matrix of the second point relative to the second coordinate system,

The fifth sub-position information is the transformation matrix of the first logo from the first logo to the origin of the first coordinate system,

The sixth sub-position information is the transformation matrix of the second logo from the second logo to the origin of the first coordinate system,

The seventh sub-position information is the fifth coordinate matrix of the first identifier relative to the second coordinate system,

The eighth sub-position information is the sixth coordinate matrix of the second identifier relative to the second coordinate system,

Wherein, the first coordinate system is the detection coordinate system of the vehicle, and the second coordinate system is the detection coordinate system of the created vehicle.
The method according to claim 10, wherein the first coordinate matrix X F_i = X(x F_i ,y F_i ,θ F_i ), the second coordinate matrix X F_j =X(x F_j ,y F_j ,θ F_j ), the third coordinate matrix X A_i =X(x A_i ,y A_i ,θ A_i ), The fourth coordinate matrix X A_j =X(x A_j ,y A_j ,θ A_j ), the fifth coordinate matrix
and the sixth coordinate matrix

Among them, x F/A is used to represent x F_i , x F_j , x A_i , x A_j ,
or
y F/A is used to denote the corresponding y F_i , y F_j , y A_i , x A_j ,
or
θ F/A is used to represent the corresponding θ F_i , θ F_j , θ A_i , θ A_j ,
or

Among them, x F_i and y F_i respectively represent the abscissa and ordinate of the first point i in the first xy coordinate plane of the first coordinate system F, θ F_i represents the angle of the first point i relative to the first xy coordinate plane,

x F_j and y F_j respectively represent the abscissa and ordinate of the second point j on the first xy coordinate plane, θ F_j represents the angle of the second point j relative to the first xy coordinate plane,

x A_i and y A_i respectively represent the abscissa and ordinate of the first point i on the second xy coordinate plane of the second coordinate system A, θ A_i represents the angle of the first point i relative to the second xy coordinate plane,

x A_j and y A_j respectively represent the abscissa and ordinate of the second point j on the second xy coordinate plane, θ A_j represents the angle of the second point j relative to the second xy coordinate plane,

and
Respectively represent the abscissa and ordinate of the first mark Mn on the second xy coordinate plane,
Indicates the angle of the first marker M n relative to the second xy coordinate plane,

and
represent the abscissa and ordinate of the second mark Mp on the second xy coordinate plane respectively,
represents the angle of the second marker M p relative to the second xy coordinate plane.
The method according to claim 11, wherein the first identification transformation matrix is represented by

Among them, the second identification transformation matrix is represented by the following matrix

in,
and
Respectively represent the abscissa and ordinate of the first mark Mn on the first xy coordinate plane of the first coordinate system F,
Indicates the angle of the first mark M n relative to the first xy coordinate plane,

and
respectively represent the abscissa and ordinate of the second mark Mp on the first xy coordinate plane,
represents the angle of the second marker M p relative to the first xy coordinate plane.
The method according to claim 12, wherein the first position conversion information is determined by the following equation

Wherein, the second position conversion information is determined by the following equation
The method according to claim 13, wherein the position conversion information is determined by the following equation

in,

in,

Wherein, x F_k and y F_k respectively denote the abscissa and ordinate of any point k detected by the vehicle on the predetermined driving route on the first xy coordinate plane of the first coordinate system F.
The method according to claim 14, wherein the vehicle detects the arbitrary point k on the predetermined travel path, and obtains the arbitrary point coordinate matrix X F_k of the arbitrary point k represented by the following equation Time:

The corresponding point matrix X A_k of the corresponding point of the arbitrary point k in the shared SLAM map is determined by the following equation:

Wherein, θ F_k represents the angle of the arbitrary point k relative to the first xy coordinate plane of the first coordinate system F,

Among them, x A_k and y A_k respectively represent the abscissa and ordinate of the corresponding point of the arbitrary point k in the shared SLAM map in the second xy coordinate plane of the second coordinate system A, and θ A_k represents the arbitrary point k in The angle of the corresponding point in the shared SLAM map relative to the second xy coordinate plane.
A device for using a shared SLAM map for a vehicle, the device comprising:

A first acquisition unit configured to be able to acquire first position information of at least two points on a predetermined travel path of the vehicle relative to the vehicle and a second position relative to the created vehicle for creating a shared SLAM map information;

A second acquisition unit configured to be able to acquire third position information of at least one marker on the vehicle relative to the vehicle and fourth position information relative to the created vehicle;

a determining unit configured to be able to determine position conversion information according to the first position information, the second position information, the third position information and the fourth position information, wherein the position conversion information is used to place the vehicle in the predetermined travel Any point detected on the path is converted to a corresponding point in the shared SLAM map.
A computer program product, wherein the computer program product comprises a computer program which, when executed by a processor, causes the processor to implement the method of any one of claims 1 to 15.