CN113535743B - Unmanned map real-time updating method and device, electronic equipment and storage medium - Google Patents
Unmanned map real-time updating method and device, electronic equipment and storage medium Download PDFInfo
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- CN113535743B CN113535743B CN202110738106.1A CN202110738106A CN113535743B CN 113535743 B CN113535743 B CN 113535743B CN 202110738106 A CN202110738106 A CN 202110738106A CN 113535743 B CN113535743 B CN 113535743B
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Abstract
The application provides a method and a device for updating an unmanned map in real time, electronic equipment and a storage medium. The method comprises the following steps: acquiring the position and map data of a current vehicle in a set area; judging whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data; if not, controlling the current vehicle to automatically drive according to the map data of the to-be-driven area of the current vehicle in the cloud map database; if yes, acquiring the environmental data of the area to be driven by the sensing equipment of the current vehicle while the current vehicle is automatically driven; and updating the map data of the area to be driven in a cloud map database according to the position of the current vehicle in the set area and the environment data of the area to be driven. The application optimizes the map updating of the set area.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a method and a device for updating an unmanned map in real time, electronic equipment and a storage medium.
Background
At present, the intellectualization of closed areas such as ports, mines and the like is an important technical direction generated by the gradual development of information technology, network technology and positioning technology. In the relatively simple enclosed area of road conditions, unmanned control and loading and unloading control of container trucks can be effectively realized, and the cost is reduced while accurate control is realized in an intelligent mode.
At present, compared with an actual traffic road, the road condition and the environment of a closed area are relatively simple. Meanwhile, the pre-construction of map data is generally time-consuming.
Therefore, how to optimize the map construction and updating of the closed area to improve the map construction efficiency is a technical problem to be solved by the technicians in the field.
Disclosure of Invention
In order to overcome the defects in the prior art, the application provides a method, a device, electronic equipment and a storage medium for updating an unmanned map in real time, so as to optimize the map construction and updating of a set area and improve the map construction efficiency.
According to one aspect of the present application, there is provided a method for updating an unmanned map in real time, comprising:
acquiring the position and map data of a current vehicle in a set area;
judging whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data;
if not, controlling the current vehicle to automatically drive according to the map data of the to-be-driven area of the current vehicle in the cloud map database;
if yes, acquiring the environmental data of the area to be driven by the sensing equipment of the current vehicle while the current vehicle is automatically driven;
and updating the map data of the area to be driven in a cloud map database according to the position of the current vehicle in the set area and the environment data of the area to be driven.
In some embodiments of the present application, the determining whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data includes:
determining a travel path of the current vehicle from the position of the current vehicle in the set area to a preset time period according to the position of the current vehicle in the set area and the travel state of the current vehicle;
determining the area to be driven according to the driving path;
judging whether the map data of the current vehicle to-be-driven area in the cloud map database needs to be updated or not.
In some embodiments of the present application, the unmanned map real-time updating method is periodically performed according to the predetermined time period or the range of the predetermined area to be driven.
In some embodiments of the present application, the determining whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data includes:
collecting environmental data of the area to be driven by sensing equipment of the current vehicle;
judging whether the environment data of the area to be driven is consistent with a map of a set area in the cloud map database;
if the environment data of the to-be-driven area is consistent with the map of the set area, the map data of the to-be-driven area of the current vehicle in the cloud map database does not need to be updated;
if the environment data of the to-be-driven area is inconsistent with the map of the set area, the map data of the to-be-driven area of the current vehicle in the cloud map database needs to be updated.
In some embodiments of the present application, the updating the map data of the area to be driven in the cloud map database according to the position of the current vehicle in the set area and the environmental data of the area to be driven includes:
determining a difference position according to the environment data of the area to be driven and the map data;
and constructing map data of the difference position according to the environment data of the difference position, wherein the map data of the difference position is used for being updated into a map of the set area.
In some embodiments of the present application, the step of collecting the environmental data of the area to be driven by the sensing device of the current vehicle is performed during the driving of the current vehicle.
In some embodiments of the application, the sensing device comprises a vision sensor and/or a laser sensor.
According to still another aspect of the present application, there is also provided an unmanned map real-time updating apparatus, including:
a first acquisition module configured to acquire a position of a current vehicle in a set area and map data;
the first judging module is configured to judge whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data;
the control module is configured to control the current vehicle to automatically drive according to the map data of the to-be-driven area of the current vehicle in the cloud map database when the first judging module judges that the vehicle is not in the first state;
the acquisition module is configured to acquire the environmental data of the area to be driven by the sensing equipment of the current vehicle while the current vehicle is automatically driven when the first judgment module judges that the first judgment module is yes;
and the updating module is configured to update the map data of the to-be-driven area in the cloud map database according to the position of the current vehicle in the set area and the environment data of the to-be-driven area.
According to still another aspect of the present application, there is also provided an electronic apparatus including: a processor; a storage medium having stored thereon a computer program which, when executed by the processor, performs the steps as described above.
According to a further aspect of the present application there is also provided a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps as described above.
Compared with the prior art, the application has the advantages that:
through the traveling of the vehicle, the environmental data is collected according to the area to be traveled to update the map data of the area for other vehicles to automatically drive, so that a plurality of vehicles can travel simultaneously, the map updating efficiency of the set area is quickened to ensure the automatic driving safety, and the set area can comprise ports, mines, parks, open roads and the like.
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The above and other features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 shows a flow chart of a method for real-time update of an unmanned map according to an embodiment of the application;
fig. 2 shows a flowchart for judging whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data according to the embodiment of the application;
fig. 3 shows a flowchart for judging whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data according to the embodiment of the application;
FIGS. 4-6 are schematic diagrams illustrating a method of real-time update of an unmanned map according to an embodiment of the application;
FIG. 7 shows a block diagram of an unmanned map real-time updating apparatus according to an embodiment of the present application;
FIG. 8 schematically illustrates a computer-readable storage medium in an exemplary embodiment of the present disclosure;
fig. 9 schematically illustrates a schematic diagram of an electronic device in an exemplary embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
In order to solve the defects in the prior art, the application provides a real-time updating method of an unmanned map, as shown in fig. 1. Fig. 1 shows a flowchart of a method for updating an unmanned map in real time according to an embodiment of the present application. Fig. 1 shows a total of 5 steps:
step S110: and acquiring the position and map data of the current vehicle in the set area.
Specifically, the current position of the vehicle in the set area may be obtained by conversion of positioning data acquired by a positioning device mounted on the vehicle. The positioning device may adopt GPS (Global Positioning System ) positioning technology, beidou satellite positioning technology, communication base station positioning technology, local area network positioning technology, etc., which is not limited by the present application.
Specifically, the area of the set area is small compared with the area of the actual traffic road, the road condition is relatively simple, and meanwhile, the position and the size of the set area can be directly obtained when the set area is established. In some variations, the location and boundaries of the set area may also be constructed from environmental data collection during the driving of the vehicle, which is not a limitation of the present application. The set areas may include ports, mines, parks, open roads, etc.
Step S120: and judging whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data.
Specifically, the area to be driven may include an area where the vehicle is currently located and an area to which the vehicle is to be driven within a predetermined period of time. Thus, the position of the area to be driven in the set area can be known according to the position of the current vehicle in the set area.
Specifically, the map of the set area may include, for example, map data of a partial area updated by the unmanned map real-time updating method of the other vehicle, or map data obtained by conversion from the cloud map database.
If the step S120 is negative, step S130 is executed: and controlling the current vehicle to automatically drive according to the map data of the to-be-driven area of the current vehicle in the cloud map database.
Specifically, if the determination is no in step S120, the map data indicating the area to be traveled in the map of the set area does not need to be updated, and thus the current vehicle can be controlled to automatically drive by the map data in the map of the set area to travel on the road where traveling is possible while avoiding obstacles and the like.
If the determination in step S120 is yes, step S140 is executed: and acquiring the environmental data of the area to be driven by the sensing equipment of the current vehicle while the current vehicle is automatically driven.
Specifically, if the determination in step S120 is yes, the map data of the area to be traveled needs to be updated in the map indicating the set area, and thus, an accident may occur when the current vehicle and the candidate vehicle are automatically driven based on the map of the set area. Thus, the relevant map data in the cloud map database can be updated while the automatic driving is performed based on the collected environmental data through the collection of the environmental data in step S140.
In particular, the sensing device may comprise a vision sensor and/or a laser sensor, whereby the environmental data may be obtained by image acquisition and/or laser data. The application is not limited to the number and mounting location of visual sensors and/or laser sensors in the sensing device. The vision sensor and/or the laser sensor may be, for example, a sensor mounted on the vehicle for autonomous driving of the vehicle without the addition and adjustment of adjustment sensors.
Specifically, in some embodiments, the step of collecting the environmental data of the area to be driven by the sensing device of the current vehicle at step S140 may be performed during the driving of the current vehicle. In other words, the current vehicle may travel at its previous travel parameters (travel speed and travel direction), and update the map according to the collected environmental data through step S150 described below while determining whether the adjustment of the travel parameters is required through the collection of the environmental data by the sensing device. For example, the speed of travel of the vehicle may be adjusted so that the environmental data collected by the sensing device can be sufficiently time to process and analyze; the driving direction can be adjusted according to the obstacle information or the object identification information obtained by the environmental data, and the like.
Step S150: and updating the map data of the area to be driven in a cloud map database according to the position of the current vehicle in the set area and the environment data of the area to be driven.
Specifically, compared with the actual traffic road, the map data of the set area is simpler, so that in step S150, when the map data of the to-be-driven area is constructed according to the environmental data of the to-be-driven area, simplification can be performed, thereby reducing the data amount of the map of the set area, reducing the system storage capacity requirement, and improving the automatic driving efficiency based on the map.
Specifically, step S150 may be performed in the in-vehicle apparatus of the current vehicle to realize the updating and processing of the distributed map data. In some variations, the vehicle-mounted device of the current vehicle may also send the environmental data to the server, so that the server may update the map data, thereby simplifying the hardware calculation requirement of the vehicle-mounted device and reducing the hardware cost of the vehicle-mounted device.
Thus, by repeating and periodically executing the above steps, the completion of the map of the set area can be achieved.
According to the method for updating the unmanned map in real time, the map data of the area to be driven is updated by the running of the vehicle according to the environmental data acquired by the area to be driven, so that other vehicles can drive automatically, a plurality of vehicles can run simultaneously, the efficiency of updating the map of the set area is quickened, the running safety of the automatic driving is ensured, and the set area can comprise ports, mines, parks, open roads and the like.
Referring now to fig. 2, fig. 2 is a flowchart illustrating determining whether map data of a region to be driven of a current vehicle in a cloud map database needs to be updated according to a position of the current vehicle in a set region and map data according to an embodiment of the present application. Fig. 2 shows the following steps in total:
step S121: and determining the running path of the current vehicle from the position of the current vehicle in the set area to a preset time period according to the position of the current vehicle in the set area and the running state of the current vehicle.
Specifically, the current running state of the vehicle includes a current running direction, a current running speed, a predicted running direction, a predicted running speed, and the like. Specifically, the predicted traveling direction and the predicted traveling speed may be obtained based on learning and prediction of a motion model of the current vehicle, and the present application is not limited thereto. According to the position of the current vehicle in the set area and the running state of the current vehicle, the running path of the current vehicle from the position of the current vehicle in the set area to the preset time period can be determined.
Specifically, the predetermined period of time may be set manually. In some variations, the predetermined time period may also be adjusted and determined according to the above-mentioned environmental data collection, map data update and update storage speeds of step S140 to step S150, so that the current vehicle can collect and process complete environmental data in the area to be driven, so that the current vehicle can drive in the area to be driven based on the collected environmental data, and at the same time, when the current vehicle drives outside the area to be driven, the map of the area to be driven has been updated, so as to improve the map update efficiency, and allow other vehicles to drive automatically in the area to be driven based on the updated map data.
Step S122: and determining the area to be driven according to the driving path.
Specifically, the area to be traveled may be determined from the predicted travel path, the sensing area of the sensing device. The area to be travelled may be, for example, an area range of environmental data that can be acquired by a sensor device of the vehicle at the present time, according to the travel path.
Step S123: and judging whether the map data of the current vehicle to-be-driven area in the cloud map database needs to be updated or not.
Thus, through the above steps, the area to be traveled can be determined for step S123 to perform the determination of whether map data is present.
Further, in various embodiments of the present application, the unmanned map real-time updating method may be periodically performed at the predetermined time period or the range of the predetermined area to be driven. The predetermined period of time and the range (e.g., length range, area range, etc.) of the predetermined area to be traveled may be adjusted manually or in real time. Thus, the map data can be updated, so that the adjacent areas to be driven can be updated by the environment data collected by the sensing device, and no gap (for example, small overlapping range can be formed) exists between the adjacent areas to be driven.
Referring now to fig. 3, fig. 3 is a flowchart illustrating determining whether map data of a region to be driven of a current vehicle in a cloud map database needs to be updated according to a position of the current vehicle in a set region and map data according to an embodiment of the present application. Fig. 3 shows the following steps in total:
step S131: and acquiring the environmental data of the area to be driven by the sensing equipment of the current vehicle.
Step S132: and judging whether the environment data of the area to be driven is consistent with the map of the set area in the cloud map database.
If step S132 determines that the environmental data of the to-be-driven area is consistent with the map of the set area, step S133 is executed: and the map data of the area to be driven of the current vehicle in the cloud map database does not need to be updated.
If step S132 determines that the environmental data of the to-be-driven area is inconsistent with the map of the set area, step S134 is executed: and the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated.
Specifically, when the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated, the difference position may be determined according to the environment data of the area to be driven and the map data. And constructing map data of the difference position according to the environment data of the difference position, wherein the map data of the difference position is used for being updated into a map of the set area. Therefore, the local updating of the map data of the area to be driven can be realized without carrying out a large amount of data updating, thereby avoiding the situation of error of updating data.
Step S135: and updating the map data of the to-be-driven area into the map of the set area based on the position of the current vehicle in the set area.
Thus, in the steps shown in fig. 3, when the map data of the area to be driven is present in the map of the set area, the map data of the map of the set area can be updated by collecting the environmental data in real time.
Referring now to fig. 4-6, fig. 4-6 are schematic diagrams illustrating a method for updating an unmanned map in real time according to an embodiment of the present application. Fig. 4-6 are merely illustrative and the application is not limited in this regard.
Fig. 4 shows a map 200 of a set area, a vehicle 201 is predicted to travel from a current position according to a travel state thereof to form a travel path 202, a region to be traveled 203 can be determined according to the travel path 202, the vehicle 201 judges whether the map 200 of the set area needs to update map data of the region to be traveled 203, if so, environment data is collected by a sensing device during the course of the vehicle 201 along the travel path 202 to update the map data of the region to be traveled 203 according to the environment data (as shown by a reference numeral 203' in fig. 5). After the vehicle 201 travels out of the area to be traveled 203', the above steps are repeatedly performed, the area to be traveled 203 is determined according to the travel path 202 from the current position according to the travel state of the vehicle, the vehicle 201 determines whether the map 200 of the set area needs to update the map data of the area to be traveled 203, if so, in the process that the vehicle 201 travels along the travel path 202, the environmental data is collected through the sensing device to update the map data of the area to be traveled 203 according to the environmental data, and therefore, the collection and update of the environmental data can be performed through a single vehicle. In some variations of the present application, the above steps may be performed by multiple vehicles, as shown in fig. 6, whereby the efficiency of map updating may be greatly increased. In an embodiment in which a plurality of vehicles travel simultaneously, the travel states of the respective vehicles may be set in advance so that the areas to be traveled of the respective vehicles do not overlap. In some variations, the running states of the vehicles may not be planned in advance, each vehicle may run according to its running task, in this embodiment, in order to avoid that a plurality of vehicles are summarized in the process of executing the steps, the areas to be run overlap, so as to cause repeated updating of map data, after the area to be run is determined for the current vehicle, it is determined whether there are other vehicles in the area to be run (for example, it may be determined by wireless communication between the vehicles or by acquiring position information of each vehicle through a server), if there are no other vehicles, the area to be run may be locked, information broadcast of the area to be run may be performed, and updating of the map is not performed for the area to be run from the vehicles in which the area to be run overlaps with the area to be run. Further, after the current vehicle updates the map data of the area to be driven and stores the map data in the set area, the locking of the area to be driven is released, and broadcasting is performed. In the broadcast form, considering that the vehicle far from the to-be-driven area does not enter the to-be-driven area in the period of time when the current vehicle updates the map data of the to-be-driven area and stores the map data to the set area, it is only necessary to send a message whether the to-be-driven area is locked to the vehicle near the to-be-driven area. Thus, the broadcast radius of the broadcast message may be, for example, equal to or slightly greater than the product of the time at which the current vehicle collects the environmental data, updates the map data of the area to be traveled, and stores the map to the set area and the maximum speed limit of the set area.
In some embodiments, the driving state of the vehicle in which the region to be driven overlaps with the region to be driven may be adjusted so that the vehicle is driven around the region to be driven, so that map updating is performed on other regions, or automatic driving is performed based on existing map data. In other embodiments, the driving state of the vehicle in which the to-be-driven area overlaps with the to-be-driven area may not be adjusted, and when the vehicle is driven to the to-be-driven area, driving may be performed according to the environmental data collected by the sensing device.
The above are merely a plurality of specific implementations of the method for updating the unmanned map in real time, and each implementation may be implemented independently or in combination, which is not limited by the present application. Further, the flow chart of the present application is merely illustrative, and the execution order of steps is not limited thereto, and the splitting, merging, sequential exchange, and other synchronous or asynchronous execution of steps are all within the scope of the present application.
The application also provides a device for updating the unmanned map in real time, and fig. 7 shows a block diagram of the device for updating the unmanned map in real time according to the embodiment of the application, wherein a sensor is installed at the top of the head of the container truck. The unmanned map real-time updating device 300 comprises a first acquisition module 310, a first judgment module 320, a control module 330, an acquisition module 340, a construction module 350 and a storage module 360.
The first acquisition module 310 is configured to acquire a position of a current vehicle in a set area and map data;
the first judging module 320 is configured to judge whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data;
the control module 330 is configured to when the first determination module determines no, according to map data of a to-be-driven area of the current vehicle in the cloud map database, controlling the current vehicle to automatically drive;
the acquisition module 340 is configured to acquire, when the first determination module determines that the first determination module is yes, environmental data of the area to be driven by the sensing device of the current vehicle while the current vehicle is automatically driven;
the updating module 350 is configured to update the map data of the area to be driven in the cloud map database according to the position of the current vehicle in the set area and the environment data of the area to be driven.
In the unmanned map real-time updating device provided by the application, the environment data is collected according to the area to be driven by the running of the vehicle, so that the map data of the area is updated for other vehicles to automatically drive, thereby realizing the simultaneous running of a plurality of vehicles, accelerating the map updating efficiency of the set area to ensure the driving safety of the automatic driving, and the set area can comprise ports, mines, parks, open roads and the like.
Fig. 7 is a schematic illustration only, and the unmanned map real-time updating device 300 provided by the application is not in violation of the concept of the application, and the disassembly, combination and addition of the modules are all within the protection scope of the application. The device 300 for updating the unmanned map in real time can be implemented by software, hardware, firmware, plug-in units and any combination thereof, but the application is not limited thereto.
In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by, for example, a processor, can implement the steps of the method for updating a driverless map in real time as described in any of the embodiments above. In some possible embodiments, the aspects of the application may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the application as described in the above description of the method for real-time updating of an unmanned map, when said program product is run on the terminal device.
Referring to fig. 8, a program product 800 for implementing the above-described method according to an embodiment of the present application is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the tenant computing device, partially on the tenant device, as a stand-alone software package, partially on the tenant computing device, partially on a remote computing device, or entirely on a remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the tenant computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected through the internet using an internet service provider).
In an exemplary embodiment of the present disclosure, an electronic device is also provided, which may include a processor, and a memory for storing executable instructions of the processor. Wherein the processor is configured to perform the steps of the method for updating the unmanned map in real-time of any of the embodiments described above via execution of the executable instructions.
Those skilled in the art will appreciate that the various aspects of the application may be implemented as a system, method, or program product. Accordingly, aspects of the application may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device 600 according to this embodiment of the application is described below with reference to fig. 9. The electronic device 600 shown in fig. 9 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 9, the electronic device 600 is in the form of a general purpose computing device. Components of electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different system components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code that is executable by the processing unit 610 such that the processing unit 610 performs the steps according to various exemplary embodiments of the present application described in the above-described unmanned map real-time updating method section of the present specification. For example, the processing unit 610 may perform the steps as shown in any of fig. 1-4.
The memory unit 620 may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) 6201 and/or cache memory unit 6202, and may further include Read Only Memory (ROM) 6203.
The storage unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 630 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a tenant to interact with the electronic device 600, and/or any device (e.g., router, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 650. Also, electronic device 600 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 over the bus 630. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 600, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, or a network device, etc.) to perform the above-described method for updating an unmanned map in real-time according to the embodiments of the present disclosure.
Compared with the prior art, the application has the advantages that:
through the traveling of the vehicle, the environmental data is collected according to the area to be traveled to update the map data of the area for other vehicles to automatically drive, so that a plurality of vehicles can travel simultaneously, the map updating efficiency of the set area is quickened to ensure the automatic driving safety, and the set area can comprise ports, mines, parks, open roads and the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (9)
1. The method for updating the unmanned map in real time is characterized by comprising the following steps of:
acquiring the position and map data of a current vehicle in a set area;
judging whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data;
if not, controlling the current vehicle to automatically drive according to the map data of the to-be-driven area of the current vehicle in the cloud map database;
if yes, acquiring the environmental data of the area to be driven by the sensing equipment of the current vehicle while the current vehicle is automatically driven;
updating the map data of the area to be driven in a cloud map database according to the position of the current vehicle in the set area and the environment data of the area to be driven,
the determining whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data comprises the following steps:
determining a travel path of the current vehicle from the position of the current vehicle in the set area to a preset time period according to the position of the current vehicle in the set area and the travel state of the current vehicle;
determining the area to be driven according to the driving path;
judging whether the map data of the current vehicle to-be-driven area in the cloud map database needs to be updated,
the preset time period is adjusted according to the speed of the environment data acquisition, map data updating and updating storage;
after the current vehicle determines the to-be-driven area, determining whether other vehicles exist in the to-be-driven area, locking the to-be-driven area if no other vehicles exist, broadcasting information of the to-be-driven area, updating the map of the to-be-driven area from the vehicle with the to-be-driven area overlapped with the to-be-driven area, and releasing the locking of the to-be-driven area based on a preset broadcasting radius after the current vehicle updates the map data of the to-be-driven area and stores the map data of the to-be-driven area into the map of the set area, wherein the broadcasting radius is equal to or greater than the product of the time of the current vehicle for acquiring the environment data, updating the map data of the to-be-driven area and storing the map data of the to-be-driven area and the maximum speed limit of the set area.
2. The unmanned map real-time updating method according to claim 1, wherein the unmanned map real-time updating method is periodically performed in the predetermined period of time or the range of a predetermined area to be driven.
3. The method for updating the unmanned map in real time according to claim 1, wherein the determining whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data comprises:
collecting environmental data of the area to be driven by sensing equipment of the current vehicle;
judging whether the environment data of the area to be driven is consistent with a map of a set area in the cloud map database;
if the environment data of the to-be-driven area is consistent with the map of the set area, the map data of the to-be-driven area of the current vehicle in the cloud map database does not need to be updated;
if the environment data of the to-be-driven area is inconsistent with the map of the set area, the map data of the to-be-driven area of the current vehicle in the cloud map database needs to be updated.
4. The method for updating the unmanned map in real time according to claim 3, wherein updating the map data of the area to be driven in the cloud map database according to the position of the current vehicle in the set area and the environmental data of the area to be driven comprises:
determining a difference position according to the environment data of the area to be driven and the map data;
and constructing map data of the difference position according to the environment data of the difference position, wherein the map data of the difference position is used for being updated into a map of the set area.
5. The unmanned map real-time updating method according to claim 1, wherein the step of collecting the environmental data of the area to be driven by the sensing device of the current vehicle is performed during the driving of the current vehicle.
6. The method of updating an unmanned map in real time according to any of claims 1 to 5, wherein the sensing device comprises a vision sensor and/or a laser sensor.
7. An unmanned map real-time updating device, characterized by comprising:
a first acquisition module configured to acquire a position of a current vehicle in a set area and map data;
the first judging module is configured to judge whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data;
the control module is configured to control the current vehicle to automatically drive according to the map data of the to-be-driven area of the current vehicle in the cloud map database when the first judging module judges that the vehicle is not in the first state;
the acquisition module is configured to acquire the environmental data of the area to be driven by the sensing equipment of the current vehicle while the current vehicle is automatically driven when the first judgment module judges that the first judgment module is yes;
an updating module configured to update map data of the area to be driven in a cloud map database according to the position of the current vehicle in the set area and the environmental data of the area to be driven,
the determining whether the map data of the area to be driven of the current vehicle in the cloud map database needs to be updated according to the position of the current vehicle in the set area and the map data comprises the following steps:
determining a travel path of the current vehicle from the position of the current vehicle in the set area to a preset time period according to the position of the current vehicle in the set area and the travel state of the current vehicle;
determining the area to be driven according to the driving path;
judging whether the map data of the current vehicle to-be-driven area in the cloud map database needs to be updated,
the preset time period is adjusted according to the speed of the environment data acquisition, map data updating and updating storage;
after the current vehicle determines the to-be-driven area, determining whether other vehicles exist in the to-be-driven area, locking the to-be-driven area if no other vehicles exist, broadcasting information of the to-be-driven area, updating the map of the to-be-driven area from the vehicle with the to-be-driven area overlapped with the to-be-driven area, and releasing the locking of the to-be-driven area based on a preset broadcasting radius after the current vehicle updates the map data of the to-be-driven area and stores the map data of the to-be-driven area into the map of the set area, wherein the broadcasting radius is equal to or greater than the product of the time of the current vehicle for acquiring the environment data, updating the map data of the to-be-driven area and storing the map data of the to-be-driven area and the maximum speed limit of the set area.
8. An electronic device, the electronic device comprising:
a processor;
a storage medium having stored thereon a computer program which, when executed by the processor, performs the method of any of claims 1 to 6.
9. A storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of claims 1 to 6.
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