Method for establishing a charging station map and related devices

Abstract

The present invention discloses a method for establishing a charging station map and related devices, mainly aiming to solve the problems that the global map information of the charging station lacks the in-station information of the charging station, which is not convenient for vehicles to drive in the charging station, and the in-station information of the existing charging stations is obtained inaccurately. The method includes: obtaining panoramic image data around a target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in the charging station; obtaining road surface marking information in the charging station based on the panoramic image data; in the case where the road surface marking information is abnormal, determining an image acquisition update position according to the illumination information and the position information of the road surface marking information; moving to the image acquisition update position, and re-obtaining road surface marking update information including the road surface marking, so as to synchronize the road surface marking update information to a pre-stored global map of the charging station.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a method for establishing a charging station map and related devices. Background Art

[0002] With the wide use of new energy vehicles, the need for charging stations by users is increasing day by day. The global map of a charging station generally also includes the global information of the charging station, such as the external contour of the charging station. After arriving at the charging station, users cannot, based on the current global map information, master sufficient in-station information of the charging station, which is not convenient for the user's vehicle or even a mobile charging auxiliary vehicle to drive in the charging station.

[0003] The in-station information of existing charging stations is easily affected by the external environment during information collection, resulting in inaccurate information acquisition. Summary of the Invention

[0004] In view of the above problems, the present invention provides a method for establishing a charging station map and related devices, mainly aiming to solve the problems that the global map information of the charging station lacks in-station information of the charging station, which is not convenient for vehicles to drive in the charging station, and the in-station information of existing charging stations is inaccurately acquired.

[0005] To solve the above at least one technical problem, in a first aspect, the present invention provides a method for establishing a charging station map, the method comprising:

[0006] Obtaining panoramic image data around a target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in the charging station;

[0007] Obtaining road surface marking information in the charging station based on the panoramic image data;

[0008] In the case where the road surface marking information is abnormal, determining an image acquisition update position according to the illumination information and the position information of the road surface marking information;

[0009] Moving to the image acquisition update position, and re-obtaining road surface marking update information including the road surface marking to synchronize the road surface marking update information to a pre-stored global map of the charging station.

[0010] Optionally, the above method further comprises:

[0011] Determining the gray data of the road surface marking information;

[0012] In the case where the gray trend change of the gray data of the road surface marking information exceeds a preset value, determining that the road surface marking information is abnormal.

[0013] Optionally, the illumination information includes illumination direction information, and the method further comprises:

[0014] When the gray - scale trend change of the gray - scale data of the road surface marking information exceeds a preset value, obtain the light direction information;

[0015] When the light direction information matches the gray - scale trend, determine that the road surface marking information is abnormal.

[0016] Optionally, when the road surface marking information is abnormal, determining the image acquisition update position according to the light information and the position information of the road surface marking information includes:

[0017] When the road surface marking information is abnormal, determine the target occlusion position according to the light direction information, the position information of the road surface marking information, and the height information of the vehicle;

[0018] Take the target occlusion position as the image acquisition update position.

[0019] Optionally, obtaining the road surface marking information in the charging station based on the panoramic image data includes:

[0020] Based on the panoramic image data and the external parameters of the vehicle - mounted image acquisition device, convert the panoramic image data into top - down perspective image data to obtain the road surface marking information in the charging station.

[0021] Optionally, obtaining the road surface marking information in the charging station based on the panoramic image data includes:

[0022] Based on the panoramic image data, obtain the road surface marking information in the charging station through a semantic segmentation model, where the semantic segmentation model introduces a level set function, represents the segmentation problem as a functional energy minimization problem, and obtains the optimal solution of the segmentation by solving partial differential equations (PDEs).

[0023] Optionally, the above - mentioned method further includes:

[0024] Obtain the relative position information between the road surface marking and the image acquisition update position;

[0025] Based on the relative position information and the position of the image acquisition update position in the pre - stored global map, calculate the position of the road surface marking in the pre - stored global map.

[0026] In a second aspect, an embodiment of the present invention further provides a charging station map establishment device, including:

[0027] An image acquisition unit, configured to obtain panoramic image data around the target moving vehicle collected by a vehicle - mounted image acquisition device of the target moving vehicle in the charging station;

[0028] An identification acquisition unit, configured to acquire road surface identification information in a charging station based on the panoramic image data;

[0029] A determination unit, configured to determine an image acquisition update position according to the illumination information and the position information of the road surface identification information when the road surface identification information is abnormal;

[0030] An update unit, configured to move to the image acquisition update position, re-acquire road surface identification update information including the road surface identification, and synchronize the road surface identification update information to a pre-stored global map of the charging station.

[0031] To achieve the above object, according to a third aspect of the present invention, there is provided a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and when the program is executed by a processor, the above-mentioned charging station map establishment method is implemented.

[0032] To achieve the above object, according to a fourth aspect of the present invention, there is provided an electronic device, including at least one processor and at least one memory connected to the processor; wherein, the processor is configured to call program instructions in the memory to execute the above-mentioned charging station map establishment method.

[0033] By means of the above technical solution, the charging station map establishment method provided by the present invention acquires panoramic image data around a target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in a charging station; acquires road surface identification information in the charging station based on the panoramic image data; when the road surface identification information is abnormal, determines an image acquisition update position according to the illumination information and the position information of the road surface identification information; moves to the image acquisition update position, re-acquires road surface identification update information including the road surface identification, and synchronizes the road surface identification update information to a pre-stored global map of the charging station. Thus, when the road surface identification information is abnormal, the current illumination information can be acquired, and the image acquisition position, that is, the image acquisition update position, can be re-determined, so that the image data collected by the vehicle at the new image acquisition position can avoid the influence of illumination on the image data as much as possible, thereby improving the accuracy of the road surface identification information in the charging station.

[0034] Correspondingly, the charging station map establishment device, equipment, and computer-readable storage medium provided by the embodiments of the present invention also have the above technical effects.

[0035] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically described below. Description of the Drawings

[0036] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0037] Figure 1 A flowchart showing a method for establishing a charging station map provided by an embodiment of the present invention is shown;

[0038] Figure 2 A block diagram showing the composition of a charging station map establishment device provided by an embodiment of the present invention is shown;

[0039] Figure 3 A block diagram showing the composition of an electronic device for establishing a charging station map provided by an embodiment of the present invention is shown. Detailed Embodiments

[0040] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be completely conveyed to those skilled in the art.

[0041] In order to solve the problems that the global map information of the charging station lacks the in-station information of the charging station, which is not convenient for vehicles to drive in the charging station, and the in-station information acquisition of the existing charging stations is inaccurate, an embodiment of the present invention provides a method for establishing a charging station map, as Figure 1 shown, the method includes:

[0042] S110. Obtain panoramic image data around the target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in the charging station;

[0043] Exemplarily, the above-mentioned target moving vehicle can be a manned vehicle, an unmanned vehicle or a mobile robot, which is not limited herein.

[0044] S120. Obtain road surface marking information in the charging station based on the panoramic image data;

[0045] Exemplarily, the above-mentioned road surface marking information can be ground markings such as straight and turning in the charging station or wall markings, which is not limited herein.

[0046] S130. When the road surface marking information is abnormal, determine the updated position of image acquisition according to the illumination information and the position information of the road surface marking information;

[0047] Exemplarily, the situation where the road surface marking information is abnormal can be, for example, that the marking is not fully displayed or not clearly displayed. For example, the edge of the turning marking is blurred, and it is uncertain whether it is a turning and straight-ahead combined marking. Or, the arrow of the straight-ahead marking is blurred, and it is uncertain whether it is a U-turn marking, etc. This is not limited here. The above illumination information can be sunlight illumination information or the illumination information of the lighting device in the charging station. Or the illumination information of the lighting devices in other merchants or public areas around the charging station. Then, based on the external illumination information at this time, a new image acquisition position that is not easily affected by illumination, that is, the updated position of image acquisition, can be selected to re-acquire the suspicious area.

[0048] S140. Move to the updated position of image acquisition, and re-obtain the updated road surface marking information including the road surface marking to synchronize the updated road surface marking information to the pre-stored global map of the charging station.

[0049] By means of the above technical solution, the method for establishing a charging station map provided by the present invention obtains the panoramic image data around the target moving vehicle collected by the on-vehicle image acquisition device of the target moving vehicle in the charging station; obtains the road surface marking information in the charging station based on the panoramic image data; when the road surface marking information is abnormal, determine the updated position of image acquisition according to the illumination information and the position information of the road surface marking information; move to the updated position of image acquisition, and re-obtain the updated road surface marking information including the road surface marking to synchronize the updated road surface marking information to the pre-stored global map of the charging station. Thus, when the road surface marking information is abnormal, the current illumination information can be obtained, and the image acquisition position, that is, the updated position of image acquisition, can be re-determined, so that the image data collected by the vehicle at the new image acquisition position can avoid the influence of illumination on the image data as much as possible, thereby improving the accuracy of the road surface marking information in the charging station.

[0050] In one embodiment, the above method further includes:

[0051] Determine the gray data of the road surface marking information;

[0052] When the change trend of the gray level of the gray data of the road surface marking information exceeds a preset value, determine that the road surface marking information is abnormal.

[0053] Exemplarily, due to the blurring of the edges of the turning signs caused by light interference, it is uncertain whether it is a sign that allows turning and also allows going straight. Or, the arrow of the straight-ahead sign is blurred, and it is uncertain whether it is a U-turn sign, etc. Such situations can be identified through the above grayscale data. For example, whether the boundary of the sign is blurred can be reflected from the change in the grayscale trend, or there is a large change in the grayscale trend within the same identified sign, which may be an abnormal acquisition of the road surface sign information caused by light interference.

[0054] In one embodiment, the light information includes light direction information, and the method further includes:

[0055] When the change in the grayscale trend of the grayscale data of the road surface sign information exceeds a preset value, obtain the light direction information;

[0056] When the light direction information matches the grayscale trend, determine that there is an abnormality in the road surface sign information.

[0057] Exemplarily, if the collected grayscale trend and the light information match, it can be further determined whether the abnormality of the above road surface sign information is caused by light interference. For example, according to the light direction information, if the position where the sign information is blurred exactly matches the position with strong light, then it can be further determined whether the abnormality of the above road surface sign information is caused by light interference.

[0058] In one embodiment, when there is an abnormality in the road surface sign information, determining the image acquisition update position according to the light information and the position information of the road surface sign information includes:

[0059] When there is an abnormality in the road surface sign information, determine the target occlusion position according to the light direction information, the position information of the road surface sign information, and the height information of the vehicle;

[0060] Use the target occlusion position as the image acquisition update position.

[0061] Exemplarily, a position where the vehicle can block the interfering light can be selected as the image acquisition update position, so that the road surface sign information collected at the image acquisition update position is accurate and not interfered by light.

[0062] In one embodiment, obtaining the road surface sign information in the charging station based on the panoramic image data includes:

[0063] Based on the panoramic image data and the external parameters of the in-vehicle image acquisition device, convert the panoramic image data into top-down perspective image data to obtain the road surface sign information in the charging station.

[0064] Exemplarily, the external parameters of the above vehicle-mounted image acquisition device can be the positional relationship between the vehicle-mounted image acquisition device and the vehicle. At the same time, by combining information such as the internal parameters of the vehicle-mounted image acquisition device, panoramic image data can be converted into top-down perspective image data to facilitate the acquisition of road surface marking information in the charging station.

[0065] In one embodiment, the above obtaining road surface marking information in the charging station based on the panoramic image data includes:

[0066] Based on the panoramic image data, obtain road surface marking information in the charging station through a semantic segmentation model. Among them, the semantic segmentation model introduces a level set function, formulates the segmentation problem as a functional energy minimization problem, and obtains the optimal solution of the segmentation by solving partial differential equations (PDEs).

[0067] Exemplarily, a semantic segmentation model can be used to exclude the interference of pedestrians or vehicles in the panoramic image data and screen out the road surface marking information in the charging station. In addition, since the above semantic segmentation model considers not only grayscale and texture information, the output result can be made more accurate.

[0068] In one embodiment, the above method further includes:

[0069] Obtain the relative position information between the road surface marking and the updated position of the image acquisition;

[0070] Based on the relative position information and the position of the updated position of the image acquisition in the pre-stored global map, calculate the position of the road surface marking in the pre-stored global map.

[0071] Exemplarily, the position of the vehicle in the pre-stored global map can be obtained through devices such as GPS, wheel speed sensors, and IMUs. Then, using the relative position relationship between the updated position of the image acquisition and the road surface marking collected, the position of the road surface marking in the pre-stored global map can be converted, and the road surface marking can be updated to the corresponding position in the pre-stored global map to improve the information in the pre-stored global map.

[0072] Further, as an implementation of the above Figure 1 shown method, an embodiment of the present invention also provides a charging station map establishment device for implementing the above Figure 1 shown method. This device embodiment corresponds to the foregoing method embodiment. For the convenience of reading, the details of the foregoing method embodiment will not be repeated one by one in this device embodiment. However, it should be clear that the device in this embodiment can correspondingly implement all the contents of the foregoing method embodiment. As Figure 2 shown, the device includes: an image acquisition unit 210, a marking acquisition unit 220, a determination unit 230, and an update unit 240, where

[0073] An image acquisition unit 210 is configured to acquire panoramic image data around a target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in a charging station;

[0074] An identification acquisition unit 220 is configured to acquire road surface identification information in the charging station based on the panoramic image data;

[0075] A determination unit 230 is configured to determine an image acquisition update position according to illumination information and position information of the road surface identification information when the road surface identification information is abnormal;

[0076] An update unit 240 is configured to move to the image acquisition update position, re-acquire road surface identification update information including the road surface identification, and synchronize the road surface identification update information to a pre-stored global map of the charging station.

[0077] By means of the above technical solution, the charging station map establishment device provided by the present invention acquires panoramic image data around a target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in a charging station; acquires road surface identification information in the charging station based on the panoramic image data; determines an image acquisition update position according to illumination information and position information of the road surface identification information when the road surface identification information is abnormal; moves to the image acquisition update position, re-acquires road surface identification update information including the road surface identification, and synchronizes the road surface identification update information to a pre-stored global map of the charging station. Thus, when the road surface identification information is abnormal, the current illumination information can be acquired, and the image acquisition position, that is, the image acquisition update position, is re-determined, so that the image data collected by the vehicle at the new image acquisition position can avoid the influence of illumination on the image data as much as possible, thereby improving the accuracy of the road surface identification information in the charging station.

[0078] The processor includes a kernel, and the kernel retrieves corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters, a method for establishing a charging station map is implemented, which can solve the problems that the global map information of the charging station lacks in-station information of the charging station, is not convenient for vehicles to drive in the charging station, and the in-station information acquisition of the existing charging stations is inaccurate.

[0079] An embodiment of the present invention provides a computer-readable storage medium, and the above computer-readable storage medium includes a stored program, and when the program is executed by a processor, the above method for establishing a charging station map is implemented.

[0080] An embodiment of the present invention provides a processor, and the above processor is used to run a program, and when the above program runs, the above method for establishing a charging station map is executed.

[0081] An embodiment of the present invention provides an electronic device, which includes at least one processor and at least one memory connected to the processor; wherein, the processor is configured to call program instructions in the memory to execute the charging station map establishment method as described above.

[0082] An embodiment of the present invention provides an electronic device 30, as Figure 3 shown, the electronic device includes at least one processor 301, at least one memory 302 connected to the processor, and a bus 303; wherein, the processor 301 and the memory 302 complete communication with each other through the bus 303; the processor 301 is configured to call program instructions in the memory:

[0083] Obtain panoramic image data around the target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in the charging station;

[0084] Obtain road surface marking information in the charging station based on the panoramic image data;

[0085] In the case where the road surface marking information is abnormal, determine an image acquisition update position according to the illumination information and the position information of the road surface marking information;

[0086] Move to the image acquisition update position, and re-obtain road surface marking update information including the road surface marking to synchronize the road surface marking update information to a pre-stored global map of the charging station.

[0087] Further, the above method further includes:

[0088] Determine the gray-scale data of the road surface marking information;

[0089] In the case where the gray-scale trend change of the gray-scale data of the road surface marking information exceeds a preset value, determine that the road surface marking information is abnormal.

[0090] Further, the illumination information includes illumination direction information, and the method further includes:

[0091] In the case where the gray-scale trend change of the gray-scale data of the road surface marking information exceeds a preset value, obtain the illumination direction information;

[0092] In the case where the illumination direction information matches the gray-scale trend, determine that the road surface marking information is abnormal.

[0093] Further, the step of determining an image acquisition update position according to the illumination information and the position information of the road surface marking information in the case where the road surface marking information is abnormal includes:

[0094] In the case where the road surface marking information is abnormal, determine a target occlusion position according to the illumination direction information, the position information of the road surface marking information, and the height information of the vehicle;

[0095] Use the target occlusion position as the image acquisition update position.

[0096] Further, the obtaining of the road surface marking information in the charging station based on the panoramic image data includes:

[0097] Based on the panoramic image data and the external parameters of the vehicle-mounted image acquisition device, convert the panoramic image data into top-down perspective image data to obtain the road surface marking information in the charging station.

[0098] Further, the obtaining of the road surface marking information in the charging station based on the panoramic image data includes:

[0099] Based on the panoramic image data, obtain the road surface marking information in the charging station through a semantic segmentation model.

[0100] Further, the above method further includes:

[0101] Obtain the relative position information between the road surface marking and the image acquisition update position;

[0102] Based on the relative position information and the position of the image acquisition update position in the pre-stored global map, calculate the position of the road surface marking in the pre-stored global map.

[0103] To execute the above method for establishing a charging station map.

[0104] The present application also provides a computer program product, which when executed on a process management electronic device, is adapted to execute a program initialized with the following method steps:

[0105] Obtain the panoramic image data around the target moving vehicle collected by the vehicle-mounted image acquisition device of the target moving vehicle in the charging station;

[0106] Based on the panoramic image data, obtain the road surface marking information in the charging station;

[0107] In the case where the road surface marking information is abnormal, determine the image acquisition update position according to the illumination information and the position information of the road surface marking information;

[0108] Move to the image acquisition update position, and re-obtain the road surface marking update information including the road surface marking to synchronize the road surface marking update information to the pre-stored global map of the charging station.

[0109] Further, the above method further includes:

[0110] Determine the grayscale data of the road surface marking information;

[0111] When the grayscale trend change of the grayscale data of the road surface marking information exceeds a preset value, determine that the road surface marking information is abnormal.

[0112] Furthermore, the illumination information includes illumination direction information, and the method further includes:

[0113] When the grayscale trend change of the grayscale data of the road surface marking information exceeds a preset value, obtain the illumination direction information;

[0114] When the illumination direction information matches the grayscale trend, determine that the road surface marking information is abnormal.

[0115] Furthermore, when the road surface marking information is abnormal, determining the image acquisition update position according to the illumination information and the position information of the road surface marking information includes:

[0116] When the road surface marking information is abnormal, determine the target occlusion position according to the illumination direction information, the position information of the road surface marking information, and the height information of the vehicle;

[0117] Use the target occlusion position as the image acquisition update position.

[0118] Furthermore, obtaining the road surface marking information in the charging station based on the panoramic image data includes:

[0119] Based on the panoramic image data and the external parameters of the vehicle-mounted image acquisition device, convert the panoramic image data into top-down perspective image data to obtain the road surface marking information in the charging station.

[0120] Furthermore, obtaining the road surface marking information in the charging station based on the panoramic image data includes:

[0121] Based on the panoramic image data, obtain the road surface marking information in the charging station through a semantic segmentation model.

[0122] Furthermore, the method further includes:

[0123] Obtain the relative position information between the road surface marking and the image acquisition update position;

[0124] Based on the relative position information and the position of the image acquisition update position in the pre-stored global map, calculate the position of the road surface marking in the pre-stored global map.

[0125] This application is described with reference to the flowcharts and / or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable process management electronic devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable process management electronic devices generate means for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or a device for the functions specified in multiple blocks.

[0126] In a typical configuration, an electronic device includes one or more processors (CPUs), a memory, and a bus. The electronic device may also include an input / output interface, a network interface, etc.

[0127] The memory may include non-permanent memory in the form of computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory includes at least one storage chip. The memory is an example of computer-readable media.

[0128] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media for a computer include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage electronic devices, or any other non-transmission media that can be used to store information accessible by a computing electronic device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0129] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or electronic device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or electronic device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or electronic device comprising the element.

[0130] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for establishing a charging station map, characterized in that, for vehicles, including: Obtaining panoramic image data of the periphery of a target moving vehicle collected by an in-vehicle image acquisition device in a charging station; Obtaining road marking information in the charging station based on the panoramic image data; In the case where the road marking information is abnormal, determining an image acquisition update position according to the illumination information and the position information of the road marking information; Moving to the image acquisition update position and re-obtaining road marking update information including the road marking to synchronize the road marking update information to a pre-stored global map of the charging station; The illumination information includes illumination direction information. In the case where the road marking information is abnormal, determining an image acquisition update position according to the illumination information and the position information of the road marking information includes: In the case where the road marking information is abnormal, determining a target occlusion position according to the illumination direction information, the position information of the road marking information, and the height information of the vehicle; Taking the target occlusion position as the image acquisition update position.

2. The method according to claim 1, characterized in that, further including: Determining the gray-scale data of the road marking information; In the case where the gray-scale trend change of the gray-scale data of the road marking information exceeds a preset value, determining that the road marking information is abnormal.

3. The method according to claim 2, characterized in that, The method further includes: In the case where the gray-scale trend change of the gray-scale data of the road marking information exceeds a preset value, obtaining illumination direction information; In the case where the illumination direction information matches the gray-scale trend, determining that the road marking information is abnormal.

4. The method according to claim 1, characterized in that, The obtaining road marking information in the charging station based on the panoramic image data includes: Based on the panoramic image data and the external parameters of the in-vehicle image acquisition device, converting the panoramic image data into top-down perspective image data to obtain road marking information in the charging station.

5. The method according to claim 4, characterized in that, The obtaining road marking information in the charging station based on the panoramic image data includes: Based on the panoramic image data, obtaining road marking information in the charging station through a semantic segmentation model, wherein the semantic segmentation model introduces a level set function, formulates the segmentation problem as a functional energy minimization problem, and obtains the optimal solution of the segmentation by solving partial differential equations (PDEs).

6. The method according to any one of claims 1 to 5, characterized in that, further including: Obtaining relative position information between the road marking and the image acquisition update position; Calculating the position of the road marking in the pre-stored global map based on the relative position information and the position of the image acquisition update position in the pre-stored global map.

7. A charging station map establishment device, characterized in that, including: An image acquisition unit for acquiring panoramic image data of the periphery of a target moving vehicle collected by an in-vehicle image acquisition device of the target moving vehicle in a charging station; An identification acquisition unit for acquiring road surface identification information in the charging station based on the panoramic image data; A determination unit for determining an image acquisition update position according to the illumination information and the position information of the road surface identification information when the road surface identification information is abnormal; An update unit for moving to the image acquisition update position and re-acquiring road surface identification update information including the road surface identification to synchronize the road surface identification update information to a pre-stored global map of the charging station; The illumination information includes illumination direction information, and determining an image acquisition update position according to the illumination information and the position information of the road surface identification information when the road surface identification information is abnormal includes: When the road surface identification information is abnormal, determining a target occlusion position according to the illumination direction information, the position information of the road surface identification information, and the height information of the vehicle; Taking the target occlusion position as the image acquisition update position.

8. A computer-readable storage medium, characterized in that, the computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the method for establishing a charging station map according to any one of claims 1 to 6 is implemented.

9. An electronic device, characterized in that, the electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the method for establishing a charging station map according to any one of claims 1 to 6.

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