Lightweight map making method and device for mine automatic driving

A self-driving, lightweight technology that is applied in the direction of measuring devices, instruments, surveying and navigation, etc., can solve the problems that cannot meet the requirements of light-weight map production efficiency and the cumbersome drawing process, so as to simplify the content and simplify the drawing process , Improve the effect of drawing efficiency

Pending Publication Date: 2022-04-12
清华大学苏州汽车研究院(吴江) +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing high-precision map formats and mapping methods are mostly aimed at urban structured roads, requiring multiple sensory data acquisition devices, and the mapping process is relatively cumbersome, which cannot meet some specific autonomous driving application scenarios. For lightweight maps and their production efficiency requirements

Method used

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  • Lightweight map making method and device for mine automatic driving
  • Lightweight map making method and device for mine automatic driving
  • Lightweight map making method and device for mine automatic driving

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0017] figure 1 It is a flow chart of the lightweight map making method for automatic driving in mines provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of automatic driving of vehicles in mines, and specifically includes the following steps:

[0018] S110. Collect the location information of the complete route according to the data collection device set on the automatic driving vehicle, and draw an automatic driving map of the complete route.

[0019] Wherein, the data collection device in this embodiment includes a positioning device and an inertial navigation device, and mainly collects the time, longitude and latitude of the location information during the driving process of the autonomous vehicle. Compared with the multi-sensory data acquisition equipment in the prior art, the location information can be obtained only through the positioning device and the inertial navigation device in this embodiment, which matches the scen...

Embodiment 2

[0068] see figure 2 , the embodiment of the present invention provides an operation example of a lightweight map production method for automatic driving in mines, involving the production of a complete route map and the production of map updates caused by partial route changes.

[0069] Among them, the map making steps of the complete route are as follows:

[0070] Step 1: Let the driver drive the vehicle and drive through all the routes on the complete set task, and collect and save the position information when the vehicle drives through the complete set route through the integrated navigation device installed on the self-driving vehicle;

[0071] Step 2: convert the saved position data of the complete predetermined route into road node data in osm format and save it;

[0072] Step 3: Open the converted data through JOSM, and the complete route will be displayed on JOSM. Use the JOSM drawing tool to draw a vector map along the direction of vehicle travel, and add road att...

Embodiment 3

[0082] Embodiment 3 of the present invention also provides a lightweight map making device for automatic driving in mines, including:

[0083] The automatic driving map drawing module is used to collect the location information of the complete route according to the data acquisition equipment set on the automatic driving vehicle, and draw the automatic driving map of the complete route.

[0084] Wherein, the data collection equipment includes a positioning device and an inertial navigation device.

[0085] The location information includes: location information collection time, location longitude and location latitude.

[0086] The above-mentioned automatic driving map drawing module is specifically used for:

[0087] Converting the format of the location information data of the complete route;

[0088] Use map editing software to draw a vector map of the complete route based on the converted data;

[0089] Computational processing is performed on the vector map of the comp...

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Abstract

The invention discloses a lightweight map making method and device for mine automatic driving. The method comprises the following steps: acquiring position information of a complete route according to data acquisition equipment arranged on an automatic driving vehicle, and drawing an automatic driving map of the complete route; and when the changed road section is generated, updating the automatic driving map of the complete route according to the position information of the changed road section acquired by the data acquisition equipment. According to the method, when the road section is changed, the complete road section information is updated only by updating the map of the changed road section, the drawing process is simplified, the drawing efficiency is improved, and the requirements of the mine automatic driving scene for the lightweight map and the manufacturing efficiency of the lightweight map are met.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of mine automatic driving, and in particular to a lightweight map making method and device for mine automatic driving. Background technique [0002] High-precision maps are the cornerstone of autonomous driving. With the development of autonomous driving technology, the related high-precision maps and their production methods are also constantly iteratively upgraded. At present, it is widely used to collect and combine road data with multiple sensors (such as lidar, camera, inertial measurement unit, positioning equipment, etc.), to fuse and superimpose the collected data of different sensors, and to carry out road marking, roadside, The recognition and extraction of road elements such as road signs and traffic signs, after complex data integration and processing, finally forms a high-precision map that can be used for automatic driving. [0003] For some specific automatic driving ap...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/32
Inventor 苟祖涛张怡欢李敏戴一凡
Owner 清华大学苏州汽车研究院(吴江)
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