Map construction method, device, device and storage medium
A map construction and map technology, applied in the field of computer vision, can solve the problem of low positioning accuracy and achieve the effect of precise positioning
Active Publication Date: 2022-07-08
CHANGCHUN YIHANG INTELLIGENT TECH CO LTD
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Problems solved by technology
However, after the unmanned logistics vehicle enters the parking space with charging piles, the charging port of the vehicle cannot be well aligned with the charging pile. Moreover, when the unmanned logistics vehicle drives into the parking space, it often relies on a single feature to achieve positioning, resulting in Positioning accuracy is not high
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Embodiment Construction
[0105] In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application.
[0106] In order to facilitate the understanding of the embodiments of the present application, some terms involved in the embodiments of the present application are explained first.
[0107] The image of the surrounding environment of the vehicle is collected by the fisheye camera arranged on the vehicle, including but not limited to the front-view image, rear-view image, left-view image and right-view image of the vehicle. image of the ground.
[0108] The vehicle wheel speedometer data is collected by the wheel speedometer arranged on the vehicle, including but not limited to the steering wheel angle and the forward speed of the vehicle.
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Embodiments of the present application provide a map construction method, device, device, and storage medium. The vehicle positioning method includes: during the process of the vehicle moving according to a preset trajectory, acquiring an image of the surrounding environment of the vehicle and vehicle wheel speed meter data, the preset It is assumed that there are one or more parking spaces on the track, and at least some of the parking spaces have charging piles; when the vehicle needs to be charged, according to the image of the surrounding environment of the vehicle, the data of the vehicle wheel speedometer and the pre-built map, the vehicle is controlled to drive into the vehicle with charging piles. The parking space that is not occupied and the charging port of the vehicle is aligned with the charging pile. The present application can improve the accuracy of the vehicle searching for the charging pile and the charging port being aligned with the charging pile.
Description
technical field [0001] The embodiments of the present application relate to the technical field of computer vision, and in particular, to a map construction method, apparatus, device, and storage medium. Background technique [0002] With the rapid development of autonomous driving-related technologies in recent years, the application of unmanned logistics vehicles in the field of logistics has gradually emerged. The main task of the unmanned logistics vehicle is to load and unload goods autonomously, and it needs to be charged from time to time. When charging is required, the unmanned logistics vehicle drives into a parking space with a charging pile for autonomous charging. However, after the unmanned logistics vehicle enters a parking space with a charging pile, the charging port of the vehicle cannot be aligned with the charging pile. Moreover, the unmanned logistics vehicle often relies on a single feature to achieve positioning when driving into the parking space, resu...
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IPC IPC(8): G06V10/46G06V10/26G06V10/75G06K9/62G01C21/34B60L53/66
CPCG01C21/3415B60L53/66G06V10/462G06V10/26G06V10/751G06F18/22Y02T90/16
Inventor 李雪
Owner CHANGCHUN YIHANG INTELLIGENT TECH CO LTD