Indoor parking lot high-precision map generation device and method

Abstract

The invention provides an indoor parking lot high-precision map generation device and method. The device comprises a device support, a wide angle camera, a single line laser radar, a dead reckoning sensor and a main control computer, wherein the wide angle camera is used for ground image data of a parking lot so as to generate a final orthophoto map; the single line laser radar is used for collecting environment structure information in horizontal direction of the parking lot, and the environment structure information serves as input of a simultaneous positioning and map creation algorithm to serve positioning and map creating; the dead reckoning sensor is used for being combined with a vehicle model of a collection vehicle to predict the pose of the collection vehicle, and the data obtained by the dead reckoning sensor also serves as input of the simultaneous positioning and map creation algorithm; and the main control computer is used for collecting data of each sensor, obtaining positioning information according to the simultaneous positioning and map creation algorithm, establishing a corresponding sequence of orthophoto map and pose and generating a parking lot high-precision map. According to the invention, the simultaneous positioning and map creation technology is utilized to solve the positioning problem of an indoor environment, and indoor parking lot high-precision map creation is realized.

Description

technical field [0001] The present invention relates to a map generation device, in particular to a parking lot high-definition map generation device and method based on simultaneous positioning and mapping technology. Background technique [0002] In recent years, with the improvement of people's living standards and the popularization of vehicles, traffic inefficiency has become a serious problem restricting people's daily life and even social development. The parking lot, as the most common environment in the daily application of vehicles, also faces the same problem. Moreover, with the increasing scale of parking lots, drivers and passengers are facing increasingly severe challenges in finding parking spaces, vehicle positioning and navigation. [0003] Existing digital maps are usually in the form of road maps, and their scope is often limited to outdoor driving roads, and their accuracy is mostly road and other. The amount of information that can be provided is extrem...

AI Technical Summary

Problems solved by technology

[0003] Existing digital maps are usually in the form of road maps, and their scope is often limited to outdoor driving roads, and their accuracy is mostly road and other. The amount of information that can be provided is extremely limited, and can only be used for outdoor navigation and imprecise positioning. The role of driving assistance for the driver is limited, and it cannot meet the needs of precise vehicle positioning and navigation in the parking lot environment

[0004] Most of the existing parking lot map creation methods rely on manual surveying and mapping and manual processing. The surveying and mapping operations are cumbersome, and the efficiency of manual correction is low. It is difficult to apply to the creation of large-scale, city-level parking lot maps.

Even if the existing parking lot map data, most of its expression forms can only serve as the identification of the map, and are not closely related to the actual vehicle application, it is difficult to adapt to the future development direction of the vehicle, such as assisted driving, unmanned vehicles, etc.

[0005] In addition, the traditional vehicle perception map creation system often relies on high-precision GPS to provide accurate positioning results. Due to the limitation of the communication distance with the base station, it can only be used within a certain range near the base station, and the environment must be open and open. Scenarios that affect GPS signal acquisition

Restricted by GPS-based positioning methods, the map creation of indoor parking lots requires a method different from the traditional GPS-based positioning method to realize the positioning problem during map creation, otherwise it will not be possible to achieve efficient and low-cost map creation

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