CN113720325B - Environment change detection method, device, electronic equipment and computer storage medium - Google Patents
Environment change detection method, device, electronic equipment and computer storage medium Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The embodiment of the application provides an environment change detection method, electronic equipment, a storage medium and a computer program product, wherein the environment change detection method comprises the following steps: collecting real-time point cloud data of a physical environment where a vehicle is located, and updating environmental characteristics of voxels in a historical vertical distribution information graph corresponding to the physical environment according to the real-time point cloud data to obtain a real-time vertical distribution information graph, wherein the vertical distribution information graph comprises: grid map, multiple voxels in the vertical direction in the geographic region corresponding to each grid in the grid map, and environmental features of each voxel; determining voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information map and the prior vertical distribution information map corresponding to the preset geographic range of the physical environment; and determining the change of the physical environment according to the change of the environment characteristic corresponding to the voxel. The scheme provided by the embodiment can directly determine the physical environment change in the three-dimensional space, and has higher accuracy.
Description
Technical Field
The embodiment of the application relates to the field of electronic maps, in particular to an environment change detection method and device, electronic equipment and a computer storage medium.
Background
With the popularization of intelligent traffic, automatic driving technology or intelligent auxiliary driving technology has become a popular research direction.
In general, automatic driving or intelligent auxiliary driving relies on maps, especially high-precision maps, to achieve positioning of vehicles and navigation of the vehicles. For example, when the vehicle is positioned, the position of the vehicle is calculated based on the acquired vehicle-surrounding fixture matching the fixture in the map.
However, the physical environment of the building, the markers, etc. may change. If the information of the fixed object in the map is not updated in time along with the change of the fixed object in the physical environment, the positioning accuracy based on the map may be affected, or the navigation condition of the vehicle may be affected.
Therefore, the technical problem to be solved in the prior art is how to detect the change of the physical environment.
Disclosure of Invention
Accordingly, the present application provides an environment change detection scheme to at least partially solve the above-mentioned problems.
According to a first aspect of an embodiment of the present application, there is provided an environmental change detection method, including: collecting real-time point cloud data of a physical environment where a vehicle is located, and updating environmental characteristics of voxels in a historical vertical distribution information graph corresponding to the physical environment according to the real-time point cloud data to obtain a real-time vertical distribution information graph, wherein the vertical distribution information graph comprises: a grid map, a plurality of voxels in the vertical direction in a geographic area corresponding to each grid in the grid map and environmental characteristics of each voxel; determining voxels with changed environmental characteristics according to the difference between the real-time vertical distribution information map and the prior vertical distribution information map corresponding to the preset geographic range of the physical environment; and determining the change of the physical environment according to the change of the environment characteristic corresponding to the voxel.
According to a second aspect of an embodiment of the present application, there is provided an electronic device including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is configured to store at least one executable instruction, where the executable instruction causes the processor to perform operations corresponding to the environmental change detection method as described above.
According to a third aspect of embodiments of the present application, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the environmental change detection method as described above.
According to a fourth aspect of embodiments of the present application, there is provided a computer program product comprising computer instructions that instruct a computing device to perform operations corresponding to the environmental change detection method as described above.
According to the environment change detection scheme provided by the embodiment of the application, the three-dimensional space can be expressed through the grid map and the environmental characteristics of the voxels and the voxels in the vertical distribution information map, and the real-time vertical distribution information map can be more accurately obtained through updating the historical vertical distribution information map through real-time point cloud data; by comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, voxels with changed environmental characteristics can be determined, and then physical environmental changes in the three-dimensional space can be directly determined according to the environmental characteristic changes corresponding to the voxels, and the accuracy is high.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1A is a flowchart illustrating a method for detecting environmental changes according to a first embodiment of the present application;
FIG. 1B is a schematic diagram of a vertical distribution information graph;
FIG. 1C is a schematic diagram of an example of a scenario in the embodiment of FIG. 1A;
FIG. 2A is a flowchart illustrating a method for detecting environmental changes according to a second embodiment of the present application;
FIG. 2B is a flow chart of another environmental change detection method according to a second embodiment of the present application;
FIG. 2C is a flowchart of an update data distribution information diagram according to the embodiment shown in FIG. 2A;
FIG. 2D is a diagram of a history information map according to the embodiment shown in FIG. 2A;
FIG. 2E is a flow chart illustrating a determination of a change in physical environment according to one embodiment of FIG. 2A;
FIG. 2F is a diagram of a real-time variation information map in the embodiment shown in FIG. 2A;
fig. 3 is a block diagram showing an environment change detecting apparatus according to a third embodiment of the present application;
fig. 4 is a block diagram showing an environment change detecting apparatus according to a fourth embodiment of the present application;
Detailed Description
In order to better understand the technical solutions in the embodiments of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the present application, shall fall within the scope of protection of the embodiments of the present application.
The implementation of the embodiments of the present application will be further described below with reference to the accompanying drawings.
Example 1
Fig. 1A is a flow chart of an environmental change detection method according to the present application, as shown in the drawing, which includes:
s101, acquiring real-time point cloud data of a physical environment where a vehicle is located, and updating environmental characteristics of voxels in a historical vertical distribution information graph corresponding to the physical environment according to the real-time point cloud data to obtain a real-time vertical distribution information graph.
The scheme provided in this embodiment may be used in an automatic driving scenario, or may be used in an auxiliary driving scenario, which is not limited in this embodiment.
In this embodiment, the real-time point cloud data may be acquired by a vehicle-mounted sensor on the vehicle. Any sensor capable of collecting environmental information, such as a lidar, may be included on the vehicle. According to the environment information acquired by the vehicle-mounted sensor of the vehicle, real-time point cloud data of the physical environment where the vehicle is located can be obtained, and the real-time point cloud data can reflect information of objects included in the three-dimensional space of the physical environment. The method card for obtaining real-time point cloud data refers to the related art, and this embodiment is not described herein again.
According to the real-time point cloud data, the historical vertical distribution information graph can be updated, and the real-time vertical distribution information graph is obtained.
The vertical distribution information map in the present embodiment includes: grid map, a plurality of voxels in the vertical direction in the geographic region corresponding to each grid in the grid map, and the environmental characteristics of each voxel.
In this embodiment, the grid map is a two-dimensional map, and the grids in the grid map may be used to represent the physical positions of the geographic areas on the horizontal plane, and the environmental features of a plurality of voxels in the vertical direction in the geographic area corresponding to each grid in the grid map may be used to express whether the physical positions represented by the voxels include a fixture. A fixture is an object that may be used to locate a vehicle, such as a building, billboard, etc. In combination with the grid map and the voxels, the three-dimensional space can be expressed by means of the map.
In this embodiment, the grid map may be the same as a map for positioning, such as a horizontal coverage of a high-precision map or the like, and a grid division manner.
In addition, because real-time point cloud data of a region which is shielded by a building and is closer to or farther from a vehicle is incomplete, the corresponding environment cannot be completely represented by the point cloud, in the embodiment, the environmental characteristics of voxels in a historical vertical distribution information graph corresponding to the physical environment are updated according to the acquired real-time point cloud data, and the acquired real-time point cloud data and the data in the historical vertical distribution information graph are combined, so that the acquired real-time vertical distribution information graph is more complete in data.
For example, as shown in the left area of fig. 1B, a grid map including a plurality of grids may be included in the vertical distribution information map.
The middle region of fig. 1B exemplarily shows a plurality of voxels in the vertical direction within a geographic region corresponding to one grid. The height corresponding to each voxel may be the same, e.g., the height of each voxel may be 50cm; the elevation of the voxel may be determined from a reference elevation (Base Altitude). In a vertical distribution information graph, the voxels may be divided by layers, for example, two layers of voxels are shown in the example of fig. 1B, each layer may include 8 voxels.
As shown in fig. 1B, each voxel may correspond to 1bit for storing the environmental characteristics of the voxel. For example, "0" shown in fig. 1B indicates that the environmental feature of the voxel is the absence of a fixture, and "1" indicates that the environmental feature of the voxel is the presence of a fixture.
S102, determining voxels with changed environment characteristics according to differences between the real-time vertical distribution information map and the prior vertical distribution information map corresponding to the preset geographic range of the physical environment.
In this embodiment, the prior vertical distribution information map may be a vertical distribution information map generated in advance according to collected data of a building or the like. The prior vertical distribution information map includes the same content as the vertical distribution information map described above, and is not described herein.
S103, determining the change of the physical environment according to the change of the environment characteristic corresponding to the voxel.
In this embodiment, by comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, a voxel with changed environmental characteristics can be determined, and by changing the environmental characteristics of the voxel, a physical environmental change occurring at a three-dimensional physical position corresponding to the voxel can be determined. For example, a change in the environmental characteristics of a voxel may indicate that a position in three-dimensional physical space has increased or decreased fixation.
It should be noted that, in this embodiment, steps S101 and S102 may be performed multiple times, and a set of voxels with changed environmental characteristics may be obtained each time of the execution; then, step S103 is executed to determine a change of the physical environment according to the change of the environmental features corresponding to the plurality of sets of voxels.
Referring now to FIG. 1C, an exemplary embodiment of the present application is illustrated by a specific use scenario.
Assuming that the vehicle is traveling on a road, a billboard is removed 50m in front of the vehicle. The position of the billboard at 50m in front of the vehicle is blank according to the collected real-time point cloud data of the vehicle, and the environmental characteristic of one or a plurality of voxels corresponding to the physical position of the original billboard is 0 in the real-time vertical distribution information map obtained after the historical vertical distribution information map is updated according to the real-time point cloud data; in the prior vertical distribution information map, the environmental characteristic of one or more voxels corresponding to the physical position of the billboard is "1".
By comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, the change of voxels corresponding to the physical position of the advertising board can be determined, and the change of the physical environment can be determined as follows according to the change that the environmental characteristic of the voxels is changed from 1 to 0: the fixture at 50m in front of the vehicle disappears.
According to the scheme provided by the embodiment, the three-dimensional space can be expressed through the grid map and the voxels in the vertical distribution information map and the environmental characteristics of the voxels, and the real-time vertical distribution information map can be more accurately obtained through updating the historical vertical distribution information map through real-time point cloud data; by comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, voxels with changed environmental characteristics can be determined, and then physical environmental changes in the three-dimensional space can be directly determined according to the environmental characteristic changes corresponding to the voxels, and the accuracy is high.
The environmental change detection method of the present embodiment may be performed by any suitable electronic device having data processing capabilities, including, but not limited to: servers, mobile terminals (such as mobile phones, PADs, etc.), and PCs, etc.
Example two
Fig. 2A is a flow chart of an environmental change detection method according to the present application, as shown in fig. 2A, which includes:
s201, acquiring real-time point cloud data of a physical environment where the vehicle is located.
S202, determining grids to be updated in a history vertical distribution information graph corresponding to the physical environment according to the positioning information of the vehicle.
In this embodiment, since the coordinate system of the collected real-time point cloud data is determined according to the vehicle and the relative position of the vehicle and the vehicle where the vehicle is located is fixed, according to the positioning information of the vehicle, it can be determined that the grid corresponding to the collected real-time point cloud data of the physical environment where the vehicle is located in the historical vertical distribution information map is the grid to be updated.
And S203, according to the real-time point cloud data, updating the environmental characteristics of voxels corresponding to the grid to be updated in the historical vertical distribution information graph to obtain a real-time vertical distribution information graph.
In this embodiment, as shown in fig. 2B, the real-time point cloud data corresponding to the dynamic object in the real-time point cloud data may be removed first, for example, the real-time point cloud data corresponding to other vehicles around the vehicle is removed. And then updating the environmental characteristics of the corresponding voxels of the grid to be updated according to the real-time point cloud data after the dynamic object is removed, and obtaining a real-time vertical distribution information graph.
In this embodiment, the historical vertical distribution information map and the real-time vertical distribution information map may be maintained locally by the vehicle. Because the local memory of the vehicle is limited, a vertical distribution information graph corresponding to a preset geographic area centered on the current position can be maintained according to the current position of the vehicle.
Specifically, in this embodiment, the vertical distribution information Map (verticalinfomap) may be maintained in a manner of scrolling Map (Rolling Map).
For example, as shown in FIG. 2C, the grid map in the historical vertical distribution information map may be the vertical distribution information map at time t-1 shown in FIG. 2C. At time t-1, the starting point in the historical vertical distribution information graph is the grid in the upper left corner.
When the acquired real-time point cloud data of the physical environment of the vehicle is obtained at the time t, a new starting point can be determined according to the positioning information of the vehicle, and a new geographic area can be determined according to the starting point based on a preset geographic area range.
In this embodiment, since the range of the preset geographic area for determining the new geographic area is unchanged, the geographic area ranges of the grid map corresponding to the time t-1 and the time t are the same, for example, 8×8. Therefore, in this embodiment, if the geographic areas corresponding to the grid map of the real-time vertical distribution information map and the grid map of the historical vertical distribution information map are different, the data corresponding to the grid that is no longer maintained in the historical vertical distribution information map may be emptied, and the data corresponding to the newly added grid in the real-time vertical distribution information map may be stored. The data corresponding to the grid are a plurality of voxels in the vertical direction and the environmental characteristics of each voxel in the geographic area corresponding to the grid.
As shown in fig. 2C, assuming that the preset geographical area range may be a geographical area range corresponding to 8×8 grids, the starting point at the time t may be, for example, a point shown in the middle grid map in fig. 2C. The geographic area of the vertical distribution information graph corresponding to the time t-1 is the geographic area corresponding to the grid (1-8); the geographic area of the vertical distribution information graph corresponding to the time t is the geographic area corresponding to the grid (3-10) x (2-9). And then, the data corresponding to the first two left columns and the first row of grids at the upper side in the t-1 moment can be emptied, and the data corresponding to the 9 th column, the 10 th column and the 9 th row of grids are used for storing the data corresponding to the t moment when the environmental characteristics of the voxels are updated according to the real-time point cloud data, so that a vertical distribution information graph corresponding to the t moment shown in the right side of fig. 2B is obtained.
The vertical distribution information map is maintained locally on the vehicle by adopting a map scrolling mode, a plurality of frames of real-time point cloud data observed by history are not required to be remapped into the real-time vertical distribution information map at the current moment, and each time, only the real-time point cloud data observed at the current moment is required to be updated into the history vertical distribution information map, so that the calculation resources are saved; and the problem that the accuracy of data in the real-time vertical distribution information graph is low due to the lack of the acquired real-time point cloud data is avoided.
S204, determining voxels with changed environment characteristics according to differences between the real-time vertical distribution information map and the prior vertical distribution information map corresponding to the preset geographic range of the physical environment.
In the step, the environmental characteristics of voxels corresponding to the same geographic position in the real-time vertical distribution information graph and the prior vertical distribution information can be compared, and the voxels with changed environmental characteristics can be determined.
S205, updating the historical change information graph according to voxels with changed environmental characteristics to obtain a real-time change information graph.
In this embodiment, the change information map includes: grid map, a plurality of voxels in the vertical direction in the geographic region corresponding to each grid in the grid map, and environmental characteristic change information of each voxel.
As shown in fig. 2C, the left side of fig. 2C shows a grid map of the change information map, and the middle of fig. 2C shows a plurality of voxels in the vertical direction within the geographic region to which the grid corresponds in the change information map. Voxels in the change information map are similar to those in the vertical distribution information map and will not be described in detail herein. The surrounding feature change information for a voxel is shown in brackets at the top right of the voxel in fig. 2C.
Illustratively, as shown in fig. 2C, the environmental characteristic change information of one voxel may include: whether to change (Binarychangeinfo), the number of unchanged observed, the number of observed changes. If the change can occupy 1bit for storage, the unchanged times and the changed times can occupy 1byte for storage, and the environmental characteristic change information of one voxel can occupy the storage space of 2byte+1bit.
Optionally, in this embodiment, the step of updating the history change information map according to the voxels in which the environmental characteristics change may include: determining a plurality of peripheral voxels aiming at the current voxels with the changed environmental characteristics in the real-time vertical distribution information graph; comparing the environmental characteristics of the current voxel in the real-time numerical distribution information graph with the environmental characteristics of a plurality of surrounding voxels in the prior vertical distribution information graph respectively; and updating the environmental characteristic change information of the current voxel in the historical change information graph according to the comparison result.
Because the acquired real-time point cloud data of the physical environment where the vehicle is located has errors, the positioning information of the vehicle may also have errors, so that the real-time vertical distribution information graph may have a misplacement condition, for example, the environmental characteristic of the 8 th voxel corresponding to the grid of the 2 nd row and the 3 rd column may be the environmental characteristic of the 8 th voxel corresponding to the grid of the 3 rd row and the 3 rd column in the real-time vertical distribution information graph, and the environmental characteristic of the 8 th voxel corresponding to the grid of the 3 rd row and the 3 rd column is misplaced by one row. In order to avoid the error of judgment of the change of the physical environment caused by dislocation as much as possible, in the embodiment, a plurality of surrounding voxels are determined aiming at the current voxel, and the comparison is carried out for a plurality of times, and the environmental characteristic change information of the current voxel in the historical change information graph can be updated according to the result of the comparison for a plurality of times, so that the accuracy of the environmental characteristic change information is improved.
In addition, in this embodiment, in general, in order to ensure positioning accuracy on a horizontal plane, the grid is divided into smaller grids, for example, the length and width of one grid may be 5cm, and there is a greater possibility that the environmental characteristics of the voxels are dislocated on the horizontal plane; the accuracy requirement of the map in the vertical direction is lower, and the height of one voxel may be 50cm, so that the possibility that the environment characteristics of the voxel are misplaced in the vertical direction is smaller.
Also, in the present embodiment, therefore, for the current voxel, the surrounding voxels in the horizontal plane are emphasized, while the surrounding voxels in the vertical direction are ignored.
In this embodiment, determining a plurality of peripheral voxels for a current voxel in which an environmental characteristic changes in the real-time vertical distribution information map includes: determining a grid to which the current voxel belongs according to the current voxel with the changed environmental characteristics in the real-time vertical distribution information graph; taking a grid to which a current voxel belongs as a center, determining a plurality of peripheral grids according to the preset row and column number, wherein the preset row and column number is determined according to the voxel offset error of the real-time vertical distribution information graph; and taking voxels with the same elevation as the current voxel in the plurality of peripheral grids as a plurality of peripheral voxels.
In this embodiment, as shown in fig. 2D, if the environmental characteristic change information of the voxel includes: and if the number of unchanged times and the number of changed times corresponding to the voxels are the same, updating the environmental characteristic change information of the current voxel in the historical change information graph according to the comparison result comprises the following steps: determining the same number of voxels with different environmental characteristics and the same number of voxels with different environmental characteristics as the current voxels in the real-time vertical distribution information map in a plurality of peripheral voxels in the prior vertical distribution information map according to the comparison result; accumulating the same number of voxels with the same environmental characteristics to unchanged times of the current voxels in the historical change information graph, and accumulating different numbers of voxels with different environmental characteristics to changed times of the current voxels in the historical change information graph so as to update the environmental characteristic change information of the current voxels.
S206, determining the change of the physical environment according to the environment characteristic information corresponding to the voxels stored in the real-time change information graph.
Specifically, step S206 may include: and determining the physical environment change of the physical position represented by the voxel according to the unchanged times and the changed times corresponding to the voxel in the real-time change information graph.
In this embodiment, each time a real-time vertical distribution information map is determined, a comparison result may be determined according to the real-time vertical distribution information map, the number of voxels with the same environmental characteristics and the number of voxels with different environmental characteristics corresponding to each voxel are determined according to the comparison result, and the number of voxels is accumulated to the unchanged times and the changed times corresponding to the voxels of the historical change information map.
Through multiple accumulation, the environmental characteristic changes of the voxels determined according to the acquired multi-frame real-time point cloud data can be integrated into the real-time change information graph, so that the accuracy of the change times and the unchanged times in the real-time change information graph is better, and the accuracy of the physical environmental changes of the physical positions represented by the voxels can be further ensured.
In this embodiment, as shown in fig. 2D, the environmental characteristic change information of one voxel may include: whether to change, the number of unchanged observed, the number of changed observed. In this embodiment, the physical environment change of the physical position represented by the current voxel in the real-time change information map may be determined according to the change times and the unchanged times of the current voxel, and stored as the data corresponding to "whether to change".
Specifically, the probability of the change of the current voxel can be determined according to the change times and the unchanged times of the current voxel, and if the probability of the change of the current voxel is greater than a preset probability, the change of the physical environment is determined, wherein the preset probability is determined according to the acquisition precision of real-time point cloud data. If it is determined that the change occurs, whether the bit stored value corresponding to the change is "1" may be determined; otherwise, it is "0"; in addition, if the sum of the number of changes and the number of unchanged times of the current voxel is smaller, whether the change in the environmental characteristic change information of the current voxel is changed may be unknown, and the bit storage value corresponding to the voxel may be null or a default value.
Specifically, the probability of a change in the physical environment of the physical location of the current voxel is:
P(X＝change)＝m/(m+n)
Wherein m is the number of changes corresponding to the current voxel stored in the real-time change information graph, and n is the number of unchanged times corresponding to the current voxel stored in the real-time change information graph.
The information of whether the change is made may be:
wherein lambda is a preset probability. In this embodiment λ may be 0.9.
Alternatively, in this embodiment, referring to fig. 2E, step S206 may include:
S2061, determining a plurality of point cloud feature points for vehicle positioning according to the collected real-time point cloud data.
In this embodiment, the point cloud feature point set P for vehicle positioning may be determined according to the real-time point cloud data.
S2062, determining a plurality of voxels representing the same physical position with the plurality of point cloud characteristic points in the real-time change information graph based on the positioning information of the vehicle.
In this embodiment, since the coordinate system of the real-time point cloud data is determined according to the vehicle-mounted sensor, and the coordinate systems of the vehicle-mounted sensor and the vehicle are relatively fixed, the point cloud feature points can be mapped into the real-time change information map according to the positioning information of the vehicle, so as to determine a plurality of voxels of which the plurality of point cloud features represent the same physical position, and the point cloud feature points are in one-to-one correspondence with the determined voxels.
In this embodiment, a plurality of real-time change information maps may be maintained in the vehicle, as shown in fig. 2F, which shows 3*3 total 9 blocks, each block may correspond to a real-time change information map changeinfomap, the point at the center of fig. 2F may be the current positioning position of the vehicle, and the point at the upper left corner of fig. 2F may represent the start points of the plurality of real-time change information maps.
In this embodiment, a real-time change information map including the current location position of the vehicle is determined according to the current location position of the vehicle, and then a total of 3*3 real-time change information maps (changeinfomapchunk 1-9) are determined centering on the determined real-time change information map, so as to ensure that the location of the vehicle is always at the center positions of a plurality of real-time change information maps, and further ensure that environmental characteristic change information determined according to multi-frame real-time point cloud data is concentrated in the real-time change information map of the location of the vehicle, thereby improving the accuracy of the obtained change degree of the physical environment of the vehicle.
In this embodiment, the size of the real-time change information map may be the same as the slice size of the map for positioning.
S2063, determining the change degree of the physical environment where the vehicle is currently located according to the environment characteristic change information corresponding to the determined voxels in the real-time change information graph.
In this embodiment, in order to ensure the accuracy of the determined degree of change of the physical environment, the environmental feature change information corresponding to the voxels around the determined voxel may be combined.
Specifically, a voxel that characterizes the same physical location as a certain point cloud feature point Pi and its surrounding voxels may be formed into a voxel set Mi.
For each voxel in the voxel set Mi, determining whether the corresponding environmental characteristic in the real-time change information graph changes, which may specifically be change_info determined in the above step.
The method comprises the steps of determining the number of voxels a with a change state of change (change_info=1), the number of voxels b with a change state of unchanged (change_info=0) and the number of voxels with a change state of unknown (change_info=null or a default value) in a voxel set Mi, and determining the change degree of the physical environment of the physical position represented by the point cloud feature point Pi according to the number of voxels a with a change state of change (change_info=1).
The degree of change in the physical environment of the physical location characterized by the point cloud feature points Pi may be: c=a/(a+b).
And after the change degrees of all the point cloud characteristic points are calculated, the change degree of the physical environment where the vehicle is currently located can be determined.
In this embodiment, the vehicle may report the determined real-time change information map, the degree of change of the point cloud feature points, and the like to the server, where the server may perform statistics on data reported by a plurality of vehicles based on the physical location, and may update the prior vertical distribution information map and other prior maps according to the statistical result.
In addition, in this embodiment, when the subsequent vehicle positioning is performed, if it is determined that the physical environment of the physical location represented by a certain voxel or a certain point cloud feature point changes, the real-time point cloud data of the physical location may be deleted from the real-time point cloud data for positioning, so as to improve the positioning accuracy, and avoid the negative influence of the change of the physical environment on the positioning algorithm module as much as possible. Similarly, if it is determined that the physical environment of the physical location represented by a certain voxel or a certain point cloud feature point changes, the physical location where the physical environment changes may be updated to other algorithm modules of the vehicle except the positioning algorithm module, so as to reduce negative effects of the change of the physical environment on the other algorithm modules.
Of course, these algorithm modules may also vary depending on the type of vehicle, particularly the type of vehicle being automatically driven. For example, different algorithm modules may be involved for logistics vehicles, public service vehicles, medical service vehicles, terminal service vehicles. The algorithm module is illustrated below for each of these four autonomous vehicles:
the logistics vehicles refer to vehicles used in logistics scenes, and can be logistics vehicles with automatic sorting functions, logistics vehicles with refrigerating and heat-preserving functions and logistics vehicles with measuring functions. These logistics vehicles may involve different algorithm modules.
For example, for a logistics vehicle, an automated sorting device may be provided which can automatically pick up and transport, sort and store goods after the logistics vehicle arrives at the destination. This involves an algorithm module for sorting of goods, which mainly implements logic control of goods taking out, handling, sorting and storing.
For another example, for a cold chain logistics scene, the logistics vehicle can be further provided with a refrigeration and heat preservation device, and the refrigeration and heat preservation device can realize refrigeration or heat preservation of transported fruits, vegetables, aquatic products, frozen foods and other perishable foods, so that the fruits, vegetables, aquatic products, frozen foods and other perishable foods are in a proper temperature environment, and the problem of long-distance transportation of perishable foods is solved. The algorithm module is mainly used for dynamically and adaptively calculating proper temperature of cold food or heat preservation according to information such as food (or article) properties, perishability, transportation time, current seasons, weather and the like, and automatically adjusting the cold food or heat preservation device according to the proper temperature, so that transportation personnel do not need to manually adjust the temperature when different foods or articles are transported by a vehicle, the transportation personnel are liberated from complicated temperature regulation and control, and the efficiency of cold food or heat preservation transportation is improved.
For example, in most logistics scenes, the charge is carried out according to the volume and/or weight of the packages, the number of the logistics packages is very large, and the volume and/or weight of the packages are simply measured by an express delivery person, so that the efficiency is very low, and the labor cost is high. Therefore, in some logistics vehicles, a measuring device is additionally arranged, so that the volume and/or the weight of the logistics package can be automatically measured, and the cost of the logistics package can be calculated. This involves an algorithm module for logistic parcel measurement which is primarily used to identify the type of logistic parcel, determine the way in which the logistic parcel is measured, such as whether a volumetric measurement or a weight measurement is made or a combination of volumetric and weight measurements are made simultaneously, and can perform volumetric and/or weight measurements based on the determined way of measurement, and perform cost calculations based on the measurement results.
The public service vehicle refers to a vehicle for providing a certain public service, and can be, for example, a fire truck, a deicing vehicle, a sprinkler, a snow plow, a garbage disposal vehicle, a traffic guidance vehicle and the like. These public service vehicles may involve different algorithm modules.
For example, for an automatically driven fire engine, the main task is to perform a reasonable fire extinguishing task for a fire scene, which involves an algorithm module for the fire extinguishing task, and the algorithm module at least needs to implement logic of fire condition identification, fire extinguishing scheme planning, automatic control of a fire extinguishing device and the like.
For another example, for deicing vehicles, the main task is to remove ice and snow on the road surface, which involves an algorithm module for deicing that at least needs to implement logic for identifying ice and snow conditions on the road surface, making deicing schemes based on the ice and snow conditions, such as which road segments need to be defrosted, which road segments need not be defrosted, whether salt spraying mode, salt spraying gram number, etc. are used, and automatic control of the deicing device in case of determining the deicing scheme.
The medical service vehicle is an automatic driving vehicle capable of providing one or more medical services, and the vehicle can provide medical services such as disinfection, temperature measurement, medicine preparation, isolation and the like, and the medical service vehicle relates to algorithm modules for providing various self-service medical services, wherein the algorithm modules mainly realize the identification of disinfection requirements and the control of disinfection devices so as to enable the disinfection devices to disinfect patients or identify the positions of the patients, control the temperature measurement devices to automatically measure the temperature of the patients at the positions of the forehead and the like of the patients, or realize the judgment of symptoms, give prescriptions according to the judgment results and need to realize the identification of medicines/medicine containers, control medicine taking manipulators so as to enable the prescriptions to capture medicines for the patients, and the like.
The terminal service vehicle refers to a self-service type automatic driving vehicle capable of replacing some terminal equipment to provide certain convenience services for users, for example, the vehicle can provide printing, attendance checking, scanning, unlocking, payment, retail and other services for the users.
For example, in some application scenarios, users often need to go to a particular location to print or scan a document, which is time consuming and laborious. Therefore, there is a terminal service vehicle capable of providing a printing/scanning service for a user, the service vehicles can be interconnected with a user terminal device, the user sends a printing command through the terminal device, the service vehicle responds to the printing command, automatically prints a document required by the user and can automatically send the printed document to a user position, the user does not need to go to a printer for queuing, and the printing efficiency can be greatly improved. Or the user can respond to the scanning instruction sent by the terminal equipment and move to the user position, and the user can finish scanning on the scanning tool of the service vehicle for placing the document to be scanned, so that queuing at a printing/scanning machine is not needed, and time and labor are saved. This involves an algorithm module providing print/scan services that at least needs to identify interconnections with the user terminal device, responses to print/scan instructions, positioning of user location, travel control, etc.
For another example, with the development of new retail services, more and more electronic commerce uses self-service vending machines to sell goods to office buildings and public areas, but the self-service vending machines are placed in fixed positions and are not movable, and users need to go to the self-service vending machines before buying the required goods, so that convenience is poor. The self-service driving vehicles capable of providing retail services are arranged, the service vehicles can bear goods to automatically move, corresponding self-service shopping APP or shopping portals can be provided, a user can place an order to the self-service driving vehicles providing retail services through the APP or shopping portals by means of terminals such as mobile phones, the order comprises names, quantity and user positions of goods to be purchased, after receiving an order placing request, the vehicles can determine whether the current remaining goods have the goods purchased by the user and whether the quantity is enough, and under the condition that the goods purchased by the user are determined to be enough, the goods can be carried to the user positions automatically, and the goods are provided for the user, so that the convenience of shopping of the user is further improved, the user time is saved, and the user can use the time for more important things. This involves the algorithm modules providing retail services that implement mainly logic for responding to user order requests, order processing, merchandise information maintenance, user location positioning, payment management, etc.
According to the scheme provided by the embodiment, the three-dimensional space can be expressed through the vertical distribution information graph, and the real-time vertical distribution information graph can be more accurately obtained through updating the historical vertical distribution information graph through the real-time point cloud data; the voxels with changed environmental characteristics can be determined by comparing the real-time vertical distribution information graph with the prior vertical distribution information graph, and then the physical environmental change in the three-dimensional space can be directly determined according to the environmental characteristic change corresponding to the voxels, and the physical position of the physical environmental change can be timely updated to an algorithm module of the vehicle, especially a positioning algorithm module, so that the negative influence of the physical environmental change on the algorithm module is reduced, and the prior vertical distribution information map and other prior maps can be timely reported.
The environmental change detection method of the present embodiment may be performed by any suitable electronic device having data processing capabilities, including, but not limited to: servers, mobile terminals (such as mobile phones, PADs, etc.), and PCs, etc.
Example III
Fig. 3 is a block diagram showing a construction of an environmental change detection apparatus of the application, as shown in the drawing, the environmental change detection apparatus includes:
the acquisition module 301 is configured to acquire real-time point cloud data of a physical environment where a vehicle is located;
The updating module 302 is configured to update, according to the real-time point cloud data, environmental features of voxels in the historical vertical distribution information map corresponding to the physical environment, and obtain a real-time vertical distribution information map, where the vertical distribution information map includes: a grid map, a plurality of voxels in the vertical direction in a geographic area corresponding to each grid in the grid map and environmental characteristics of each voxel;
The difference module 303 is configured to determine voxels with changed environmental features according to differences between the real-time vertical distribution information map and a priori vertical distribution information map corresponding to a preset geographic range to which the physical environment belongs;
And the change determining module 304 is configured to determine a change of the physical environment according to a change of the environmental characteristic corresponding to the voxel.
The environmental change detection device in this embodiment is configured to implement the corresponding environmental change detection methods in the foregoing multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described herein. In addition, the functional implementation of each module in the environmental change detection device of the present embodiment may refer to the description of the corresponding portion in the foregoing method embodiment, which is not repeated herein.
Example IV
Referring to fig. 4, a schematic structural diagram of an electronic device according to a fifth embodiment of the present application is shown, and the specific embodiment of the present application is not limited to the specific implementation of the electronic device.
As shown in fig. 4, the electronic device may include: a processor 402, a communication interface (Communications Interface) 404, a memory 406, and a communication bus 408.
Wherein:
Processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408.
A communication interface 404 for communicating with other electronic devices or servers.
The processor 402 is configured to execute the program 410, and may specifically perform relevant steps in the above-described embodiment of the environmental change detection method.
In particular, program 410 may include program code including computer-operating instructions.
The processor 402 may be a central processing unit CPU, or an Application-specific integrated Circuit ASIC (Application SPECIFIC INTEGRATED Circuit), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors comprised by the smart device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
Memory 406 for storing programs 410. Memory 406 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 410 may be specifically configured to enable the processor 402 to perform the operations in the above method embodiments, and specific implementation of each step in the program 410 may refer to corresponding descriptions in corresponding steps and units in the above environmental change detection method embodiments, which are not repeated herein. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and modules described above may refer to corresponding procedure descriptions in the foregoing method embodiments, which are not repeated herein.
The embodiment of the application also provides a computer program product, which comprises computer instructions, wherein the computer instructions instruct a computing device to execute the operations corresponding to any one of the traffic road data processing methods in the method embodiments.
It should be noted that, according to implementation requirements, each component/step described in the embodiments of the present application may be split into more components/steps, or two or more components/steps or part of operations of the components/steps may be combined into new components/steps, so as to achieve the objects of the embodiments of the present application.
The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium downloaded through a network, so that the methods described herein may be stored on such software processes on a recording medium using a general purpose computer, special purpose processor, or programmable or special purpose hardware such as an ASIC or FPGA. It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the environmental change detection methods described herein. Further, when the general-purpose computer accesses code for implementing the environmental change detection method shown herein, execution of the code converts the general-purpose computer into a special-purpose computer for executing the environmental change detection method shown herein.
Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The above embodiments are only for illustrating the embodiments of the present application, but not for limiting the embodiments of the present application, and various changes and modifications may be made by one skilled in the relevant art without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also fall within the scope of the embodiments of the present application, and the scope of the embodiments of the present application should be defined by the claims.
Claims (10)
1. An environmental change detection method comprising:
Collecting real-time point cloud data of a physical environment where a vehicle is located, and updating environmental characteristics of voxels in a historical vertical distribution information graph corresponding to the physical environment according to the real-time point cloud data to obtain a real-time vertical distribution information graph, wherein the vertical distribution information graph comprises: a grid map, a plurality of voxels in the vertical direction in a geographic area corresponding to each grid in the grid map and environmental characteristics of each voxel;
Determining a current voxel with changed environmental characteristics and a plurality of peripheral voxels in the corresponding prior vertical distribution information map according to the difference between the real-time vertical distribution information map and the prior vertical distribution information map corresponding to the preset geographic range of the physical environment;
and determining the change of the physical environment according to the change of the environmental characteristic corresponding to the current voxel and the environmental characteristics of the plurality of surrounding voxels.
2. The method of claim 1, wherein the acquiring real-time point cloud data of a physical environment in which the vehicle is located, updating environmental features of voxels in a historical vertical distribution information map corresponding to the physical environment according to the real-time point cloud data, and obtaining a real-time vertical distribution information map includes:
Collecting real-time point cloud data of a physical environment where a vehicle is located;
determining grids to be updated in a history vertical distribution information graph corresponding to the physical environment according to the positioning information of the vehicle;
And updating the environmental characteristics of voxels corresponding to the grids to be updated in the historical vertical distribution information graph according to the real-time point cloud data, and obtaining a real-time vertical distribution information graph.
3. The method according to claim 1, wherein after determining the current voxel with changed environmental characteristics and the plurality of surrounding voxels in the corresponding prior vertical distribution information map according to the difference between the real-time vertical distribution information map and the prior vertical distribution information map corresponding to the preset geographic range to which the physical environment belongs, the method further comprises:
Updating a historical change information graph according to voxels with changed environmental characteristics to obtain a real-time change information graph, wherein the change information graph comprises: grid map, a plurality of voxels in the vertical direction in the geographic region corresponding to each grid in the grid map, and environmental characteristic change information of each voxel.
4. A method according to claim 3, wherein updating the historical change information map based on voxels having changed according to environmental characteristics comprises:
Determining a plurality of peripheral voxels aiming at the current voxels with the changed environmental characteristics in the real-time vertical distribution information graph;
Comparing the environmental characteristics of the current voxel in the real-time numerical distribution information graph with the environmental characteristics of a plurality of surrounding voxels in the prior vertical distribution information graph respectively;
and updating the environmental characteristic change information of the current voxel in the historical change information graph according to the comparison result.
5. The method of claim 4, wherein the determining a plurality of surrounding voxels for a current voxel in the real-time vertical distribution information map where the environmental characteristic changes comprises:
Determining a grid to which the current voxel belongs according to the current voxel with the changed environmental characteristics in the real-time vertical distribution information graph;
taking a grid to which a current voxel belongs as a center, determining a plurality of peripheral grids according to the preset row and column number, wherein the preset row and column number is determined according to the voxel offset error of the real-time vertical distribution information graph;
And taking voxels with the same elevation as the current voxel in the plurality of peripheral grids as a plurality of peripheral voxels.
6. The method of claim 4, wherein the voxel environmental characteristic change information comprises: the number of unchanged times and the number of changed times corresponding to the voxels, and the updating the environmental characteristic change information of the current voxels in the historical change information graph according to the comparison result comprises the following steps:
determining the same number of voxels with different environmental characteristics and the same number of voxels with different environmental characteristics as the current voxels in the real-time vertical distribution information map in a plurality of peripheral voxels in the prior vertical distribution information map according to the comparison result;
Accumulating the same number of voxels with the same environmental characteristics to unchanged times of the current voxels in the historical change information graph, and accumulating different numbers of voxels with different environmental characteristics to changed times of the current voxels in the historical change information graph so as to update the environmental characteristic change information of the current voxels.
7. The method of claim 6, wherein the determining the change in the physical environment from the change in the environmental characteristic corresponding to the current voxel and the environmental characteristics of the plurality of surrounding voxels comprises:
and determining the physical environment change of the physical position represented by the voxel according to the unchanged times and the changed times corresponding to the voxel in the real-time change information graph.
8. A method according to claim 3, wherein said determining a change in the physical environment from a change in the environmental characteristic corresponding to the current voxel and environmental characteristics of the plurality of surrounding voxels comprises:
determining a plurality of point cloud characteristic points for vehicle positioning according to the collected real-time point cloud data;
Determining a plurality of voxels representing the same physical position with the plurality of point cloud characteristic points in a real-time change information graph based on the positioning information of the vehicle;
and determining the change degree of the physical environment where the vehicle is currently located according to the environmental characteristic change information corresponding to the determined voxels in the real-time change information graph.
9. An electronic device, comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
The memory is configured to store at least one executable instruction, where the executable instruction causes the processor to perform the operations corresponding to the environmental change detection method according to any one of claims 1 to 8.
10. A computer storage medium having stored thereon a computer program which when executed by a processor implements the environmental change detection method of any of claims 1-8.
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