Charging station map synchronization method and related equipment

Abstract

This invention discloses a method and related equipment for synchronizing charging station maps, primarily aimed at addressing the problems of low efficiency and inaccurate information acquisition during the collection of charging station information. The method includes: acquiring IMU data of a target moving vehicle within the charging station; determining 3D feature road surface information within the charging station based on the IMU data of the target moving vehicle; acquiring panoramic image data of the surrounding area of ​​the target moving vehicle collected by its onboard image acquisition device; acquiring planar marker information within the charging station based on the panoramic image data; and synchronizing the planar marker information and the 3D feature road surface information to a pre-stored global map of the charging station.

Description

Technical Field

[0001] This invention relates to the field of vehicle charging technology, and in particular to a method for synchronizing charging station maps and related equipment. Background Technology

[0002] With the widespread use of new energy vehicles, the demand for charging stations is increasing daily. Global maps of charging stations typically include overall information, such as the station's external outline. However, upon arriving at a charging station, users cannot readily access sufficient information about the station's interior based on the current global map data, hindering the movement of their vehicles and even mobile charging assistance vehicles within the station.

[0003] Existing charging stations suffer from low efficiency in information collection and are prone to inaccurate information acquisition. Summary of the Invention

[0004] In view of the above problems, the present invention provides a charging station map synchronization method and related equipment, the main purpose of which is to solve the problems of low efficiency in collecting charging station information and inaccurate information acquisition.

[0005] To address at least one of the aforementioned technical problems, in a first aspect, the present invention provides a method for synchronizing charging station maps, the method comprising:

[0006] Acquire IMU data of the target moving vehicle within the charging station;

[0007] The three-dimensional feature road surface information within the charging station is determined based on the IMU data of the target moving vehicle.

[0008] Acquire panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device of the target moving vehicle within the charging station;

[0009] Based on the panoramic image data, obtain the planar signage information within the charging station;

[0010] The planar identification information and the three-dimensional feature road surface information are synchronized to the pre-stored global map of the charging station.

[0011] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data of the target moving vehicle includes:

[0012] If the IMU data indicates that the target moving vehicle has two consecutive first jumps within a preset time interval, the speed bump information and the current position of the target moving vehicle are recorded.

[0013] Optionally, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0014] When the IMU data indicates that the target moving vehicle has multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0015] Optionally, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0016] When the IMU data indicates that the target moving vehicle is on a slope and there are multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0017] Optionally, obtaining planar marker information within the charging station based on the panoramic image data includes:

[0018] Based on the panoramic image data, planar signage information within the charging station is obtained through a semantic segmentation model.

[0019] Optionally, obtaining planar marker information within 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, the panoramic image data is converted into top-down view image data to obtain planar marking information within the charging station.

[0021] Optionally, the above methods also include:

[0022] Obtain the relative position information of the planar marking information and the vehicle;

[0023] Based on the relative position information and the vehicle's position in the pre-stored global map, the position of the planar identification information in the pre-stored global map is calculated.

[0024] Secondly, embodiments of the present invention also provide a charging station map synchronization device, comprising:

[0025] The first acquisition unit is used to acquire IMU data of the target moving vehicle within the charging station;

[0026] The first determining unit is used to determine the three-dimensional feature road surface information within the charging station based on the IMU data of the target moving vehicle;

[0027] The second acquisition unit is used to acquire panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device of the target moving vehicle in the charging station.

[0028] The second determining unit is used to obtain planar marking information within the charging station based on the panoramic image data;

[0029] The synchronization unit is used to synchronize the planar identification information and the three-dimensional feature road surface information to the pre-stored global map of the charging station.

[0030] To achieve the above objectives, according to a third aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium comprising a stored program, wherein the above-described charging station map synchronization method is implemented when the program is executed by a processor.

[0031] To achieve the above objectives, according to a fourth aspect of the present invention, an electronic device is provided, 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-described charging station map synchronization method.

[0032] By employing the above technical solution, the charging station map synchronization method provided by this invention acquires IMU data of a target moving vehicle within the charging station; determines 3D feature road surface information within the charging station based on the IMU data of the target moving vehicle; acquires panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device within the charging station; acquires planar marker information within the charging station based on the panoramic image data; and synchronizes the planar marker information and the 3D feature road surface information to a pre-stored global map of the charging station. Thus, by utilizing the target moving vehicle's own IMU sensor and monitoring the IMU data of the vehicle's movement within the charging station, the 3D feature road surface information within the charging station can be determined when the changes in the IMU data meet certain specific change characteristics. On the one hand, this addresses the problem that in some cases, image acquisition devices may acquire inaccurate image data, or the image analysis based on the image data may not achieve good analytical results, leading to poor reliability in determining 3D feature road surface information. On the other hand, it can obtain highly reliable 3D feature road surface information within the charging station without adding other hardware.

[0033] Correspondingly, the charging station map synchronization device, equipment, and computer-readable storage medium provided in the embodiments of the present invention also have the above-mentioned technical effects.

[0034] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0036] Figure 1 A flowchart illustrating a charging station map synchronization method provided by an embodiment of the present invention is shown.

[0037] Figure 2 This diagram illustrates the composition of a charging station map synchronization device according to an embodiment of the present invention.

[0038] Figure 3 This diagram illustrates the composition of a charging station map synchronization electronic device according to an embodiment of the present invention. Detailed Implementation

[0039] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0040] To address the issues of missing charging station internal information in the global charging station map, which hinders vehicle navigation within the charging station, and the inaccuracy of existing charging station internal information, this invention provides a charging station map synchronization method for vehicles, such as... Figure 1 As shown, the method includes:

[0041] S110. Obtain the IMU data of the target moving vehicle within the charging station;

[0042] For example, the aforementioned target moving vehicle can be a manned vehicle, an unmanned vehicle, or a mobile robot, and is not limited thereto. The aforementioned IMU data can refer to test data obtained by the inertial measurement unit, typically a combination unit consisting of three accelerometers and three gyroscopes, mounted on mutually perpendicular measurement axes. Furthermore, most target moving vehicles possess an inertial measurement unit to monitor the vehicle's movement state in order to control the vehicle based on its movement.

[0043] S120. Determine the three-dimensional feature road surface information within the charging station based on the IMU data of the target moving vehicle;

[0044] For example, the aforementioned three-dimensional road surface information can be raised or recessed road markings or three-dimensional road surface features that serve a safety auxiliary function. Manually collecting and updating the global map of a charging station is often inefficient and difficult to achieve accuracy. Using image acquisition and analysis methods is prone to inaccuracies due to factors such as shooting angle, field of view, or ambient lighting, or the resulting image data may not provide satisfactory analysis, leading to poor reliability in determining the three-dimensional road surface information.

[0045] S130. Acquire panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device of the target moving vehicle in the charging station.

[0046] For example, the panoramic image data mentioned above may include some non-road surface plan marking information or road surface plan marking information.

[0047] S140. Obtain planar signage information within the charging station based on the panoramic image data;

[0048] S150. Synchronize the planar identification information and the three-dimensional feature road surface information to the pre-stored global map of the charging station.

[0049] For example, the planar signage information and the three-dimensional road surface information can be directly synchronized to the pre-stored global map of the charging station. Alternatively, the planar signage information can be further verified by combining it with IMU data, and the verified planar signage information and the three-dimensional road surface information can be directly synchronized to the pre-stored global map of the charging station.

[0050] By employing the above technical solution, the charging station map synchronization method provided by this invention acquires IMU data of a target moving vehicle within the charging station; determines 3D feature road surface information within the charging station based on the IMU data of the target moving vehicle; acquires panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device within the charging station; acquires planar marker information within the charging station based on the panoramic image data; and synchronizes the planar marker information and the 3D feature road surface information to a pre-stored global map of the charging station. Thus, by utilizing the target moving vehicle's own IMU sensor and monitoring the IMU data of the vehicle's movement within the charging station, the 3D feature road surface information within the charging station can be determined when the changes in the IMU data meet certain specific change characteristics. On the one hand, this addresses the problem that in some cases, image acquisition devices may acquire inaccurate image data, or the image analysis based on the image data may not achieve good analytical results, leading to poor reliability in determining 3D feature road surface information. On the other hand, it can obtain highly reliable 3D feature road surface information within the charging station without adding other hardware.

[0051] In one embodiment, determining the three-dimensional feature road surface information within the charging station based on the IMU data of the target mobile vehicle includes:

[0052] If the IMU data indicates that the target moving vehicle has two consecutive first jumps within a preset time interval, the speed bump information and the current position of the target moving vehicle are recorded.

[0053] For example, the aforementioned preset time interval can be set based on the common front-to-rear wheel spacing of vehicles. For instance, in charging stations for small and medium-sized vehicles, the preset time interval can be set based on the vehicle's speed when passing over a speed bump and the front-to-rear wheel spacing of the vehicle; for example, the preset time interval could be set to within 3 seconds. Then, if the IMU data indicates that the target moving vehicle has two consecutive first transitions within the preset time interval, combined with the possible road conditions and vehicle driving state within the charging station, it can be inferred that the vehicle's front and rear wheels passed over the speed bump sequentially. The speed bump information and the current position of the target moving vehicle can then be recorded, thus predicting the specific location of the speed bump within the charging station.

[0054] In one embodiment, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0055] When the IMU data indicates that the target moving vehicle has multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0056] For example, the aforementioned anti-skid strip can be a dotted anti-skid strip or an anti-skid strip composed of continuous raised and recessed steps. Therefore, if the target moving vehicle experiences multiple consecutive second transitions within a preset time interval, it can be presumed that the vehicle's wheels have traversed a surface with continuous raised and recessed sections. Combining this with the possible road conditions within the charging station and the vehicle's possible driving state, it can be presumed that the vehicle has currently passed the anti-skid strip. The anti-skid strip information and the current position of the target moving vehicle can then be recorded, thus predicting the specific location of the anti-skid strip within the charging station.

[0057] In one embodiment, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0058] When the IMU data indicates that the target moving vehicle is on a slope and there are multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0059] For example, when the IMU data indicates that the target moving vehicle is on a slope and there are multiple consecutive second transitions within a preset time interval, it can not only indicate that the vehicle's wheels have passed through a continuous series of bumps and depressions in the road surface, but also, since anti-skid strips are usually installed on steep slopes, when the IMU data indicates that the target moving vehicle is on a slope, combined with the possible road conditions within the charging station and the vehicle's possible driving state, it can be further inferred that the vehicle has currently passed through an anti-skid strip. This makes the prediction of three-dimensional road surface information more accurate.

[0060] In one embodiment, obtaining planar marker information within the charging station based on the panoramic image data includes:

[0061] Based on the panoramic image data, planar signage information within the charging station is obtained through a semantic segmentation model.

[0062] For example, a semantic segmentation model can be used to eliminate interference from pedestrians or vehicles in panoramic image data, filtering out planar signage information within the charging station. Furthermore, since the aforementioned semantic segmentation model considers not only grayscale and texture information, the output results are more accurate.

[0063] In one embodiment, obtaining planar marker information within the charging station based on the panoramic image data includes:

[0064] Based on the panoramic image data and the external parameters of the vehicle-mounted image acquisition device, the panoramic image data is converted into top-down view image data to obtain planar marking information within the charging station.

[0065] For example, effective data containing planar labeling information can be obtained by converting panoramic image data into top-down view image data.

[0066] In one embodiment, the above method further includes:

[0067] Obtain the relative position information of the planar marking information and the vehicle;

[0068] Based on the relative position information and the vehicle's position in the pre-stored global map, the position of the planar identification information in the pre-stored global map is calculated.

[0069] For example, since the above-mentioned planar marking information is obtained by capturing images with an in-vehicle image acquisition device, the vehicle is often not located at the location of the planar marking information when the image containing the planar marking information is acquired. Therefore, the relative position information between the planar marking information and the vehicle can be obtained. Based on the relative position information and the position of the vehicle in the pre-stored global map, the position of the planar marking information in the pre-stored global map is calculated.

[0070] Furthermore, as a response to the above Figure 1 In addition to the implementation of the method shown, this embodiment of the invention also provides a charging station map synchronization device for the above-mentioned... Figure 1 The method shown is implemented accordingly. This device embodiment corresponds to the foregoing method embodiment. For ease of reading, this device embodiment will not repeat the details of the foregoing method embodiment, but it should be clear that the device in this embodiment can implement all the contents of the foregoing method embodiment. Figure 2 As shown, the device includes: a first acquisition unit 210, a first determination unit 220, a second acquisition unit 230, a second determination unit 240, and a synchronization unit 250, wherein...

[0071] The first acquisition unit 210 is used to acquire IMU data of the target moving vehicle within the charging station;

[0072] The first determining unit 220 is used to determine the three-dimensional feature road surface information within the charging station based on the IMU data of the target moving vehicle;

[0073] The second acquisition unit 230 is used to acquire panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device of the target moving vehicle in the charging station.

[0074] The second determining unit 240 is used to obtain planar marking information within the charging station based on the panoramic image data;

[0075] The synchronization unit 250 is used to synchronize the planar identification information and the three-dimensional feature road surface information to the pre-stored global map of the charging station.

[0076] By employing the above technical solution, the charging station map synchronization device provided by this invention acquires IMU data of a target moving vehicle within the charging station; determines 3D feature road surface information within the charging station based on the IMU data of the target moving vehicle; acquires panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device within the charging station; acquires planar marker information within the charging station based on the panoramic image data; and synchronizes the planar marker information and the 3D feature road surface information to a pre-stored global map of the charging station. Thus, by utilizing the target moving vehicle's own IMU sensor and monitoring the IMU data of the vehicle's movement within the charging station, the 3D feature road surface information within the charging station can be determined when the changes in the IMU data meet certain specific change characteristics. On the one hand, this addresses the problem that image acquisition devices sometimes acquire inaccurate image data, or that image analysis based on the image data does not achieve good analytical results, leading to poor reliability in determining 3D feature road surface information. On the other hand, it can obtain highly reliable 3D feature road surface information within the charging station without adding other hardware.

[0077] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and by adjusting kernel parameters, a method for synchronizing charging station maps can be implemented. This method addresses the issues of missing on-site information for charging stations in the global map, hindering vehicle navigation within charging stations, and the inaccuracy of existing on-site information for charging stations.

[0078] This invention provides a computer-readable storage medium including a stored program that, when executed by a processor, implements the above-described charging station map synchronization method.

[0079] This invention provides a processor for running a program, wherein the program executes the charging station map synchronization method.

[0080] This invention provides an electronic device, which 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 charging station map synchronization method described above.

[0081] This invention provides an electronic device 30, such as... Figure 3 As shown, the electronic device includes at least one processor 301, and at least one memory 302 and a bus 303 connected to the processor; wherein, the processor 301 and the memory 302 communicate with each other through the bus 303; the processor 301 is used to call program instructions in the memory:

[0082] Acquire IMU data of the target moving vehicle within the charging station;

[0083] The three-dimensional feature road surface information within the charging station is determined based on the IMU data of the target moving vehicle.

[0084] Acquire panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device of the target moving vehicle within the charging station;

[0085] Based on the panoramic image data, obtain the planar signage information within the charging station;

[0086] The planar identification information and the three-dimensional feature road surface information are synchronized to the pre-stored global map of the charging station.

[0087] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data of the target moving vehicle includes:

[0088] If the IMU data indicates that the target moving vehicle has two consecutive first jumps within a preset time interval, the speed bump information and the current position of the target moving vehicle are recorded.

[0089] Optionally, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0090] When the IMU data indicates that the target moving vehicle has multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0091] Optionally, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0092] When the IMU data indicates that the target moving vehicle is on a slope and there are multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0093] Optionally, obtaining planar marker information within the charging station based on the panoramic image data includes:

[0094] Based on the panoramic image data, planar signage information within the charging station is obtained through a semantic segmentation model.

[0095] Optionally, obtaining planar marker information within the charging station based on the panoramic image data includes:

[0096] Based on the panoramic image data and the external parameters of the vehicle-mounted image acquisition device, the panoramic image data is converted into top-down view image data to obtain planar marking information within the charging station.

[0097] Optionally, the above methods also include:

[0098] Obtain the relative position information of the planar marking information and the vehicle;

[0099] Based on the relative position information and the vehicle's position in the pre-stored global map, the position of the planar identification information in the pre-stored global map is calculated.

[0100] To execute the charging station map synchronization method described above.

[0101] This application also provides a computer program product, which, when executed on a process management electronic device, is suitable for executing a program that initializes the following method steps:

[0102] Acquire IMU data of the target moving vehicle within the charging station;

[0103] The three-dimensional feature road surface information within the charging station is determined based on the IMU data of the target moving vehicle.

[0104] Acquire panoramic image data of the surrounding area of ​​the target moving vehicle collected by the vehicle-mounted image acquisition device of the target moving vehicle within the charging station;

[0105] Based on the panoramic image data, obtain the planar signage information within the charging station;

[0106] The planar identification information and the three-dimensional feature road surface information are synchronized to the pre-stored global map of the charging station.

[0107] Optionally, determining the three-dimensional feature road surface information within the charging station based on the IMU data of the target moving vehicle includes:

[0108] If the IMU data indicates that the target moving vehicle has two consecutive first jumps within a preset time interval, the speed bump information and the current position of the target moving vehicle are recorded.

[0109] Optionally, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0110] When the IMU data indicates that the target moving vehicle has multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0111] Optionally, determining the three-dimensional feature road surface information within the charging station based on the angular velocity data and acceleration data includes:

[0112] When the IMU data indicates that the target moving vehicle is on a slope and there are multiple consecutive second jumps within a preset time interval, the anti-skid strip information and the current position of the target moving vehicle are recorded, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

[0113] Optionally, obtaining planar marker information within the charging station based on the panoramic image data includes:

[0114] Based on the panoramic image data, planar signage information within the charging station is obtained through a semantic segmentation model.

[0115] Optionally, obtaining planar marker information within the charging station based on the panoramic image data includes:

[0116] Based on the panoramic image data and the external parameters of the vehicle-mounted image acquisition device, the panoramic image data is converted into top-down view image data to obtain planar marking information within the charging station.

[0117] Optionally, the above methods also include:

[0118] Obtain the relative position information of the planar marking information and the vehicle;

[0119] Based on the relative position information and the vehicle's position in the pre-stored global map, the position of the planar identification information in the pre-stored global map is calculated.

[0120] This application is described with reference to flowchart illustrations and / or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable process management electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable process management electronic device, generate instructions for implementing the process... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] In a typical configuration, an electronic device includes one or more processors (CPUs), memory, and a bus. The electronic device may also include input / output interfaces, network interfaces, etc.

[0122] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and memory includes at least one memory chip. Memory is an example of computer-readable media.

[0123] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media for computers 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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage electronic devices, or any other non-transferable medium that can be used to store information accessible to a computing electronic device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0124] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or electronic device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or electronic device. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or electronic device that includes that element.

[0125] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0126] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A charging station map synchronization method, characterized by, A vehicle comprises: Obtaining IMU data of a target mobile vehicle in a charging station; Determining three-dimensional feature road surface information in the charging station based on the IMU data of the target mobile vehicle; Obtaining panoramic image data of the target mobile vehicle collected by a vehicle-mounted image collection device of the target mobile vehicle in the charging station; Obtaining plane identification information in the charging station based on the panoramic image data; Synchronizing the plane identification information and the three-dimensional feature road surface information to a pre-stored global map of the charging station; The determination of the three-dimensional feature road surface information in the charging station based on the IMU data of the target mobile vehicle comprises: In the case that the IMU data indicates that the target mobile vehicle has continuous two first jumps in a preset time interval, recording deceleration strip information and the current position of the target mobile vehicle; In the case that the IMU data indicates that the target mobile vehicle has continuous multiple second jumps in a preset time interval, recording anti-skid strip information and the current position of the target mobile vehicle, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

2. The method of claim 1, wherein, The determination of the three-dimensional feature road surface information in the charging station based on the IMU data of the target mobile vehicle further comprises: In the case that the IMU data indicates that the target mobile vehicle is on a slope and has continuous multiple second jumps in a preset time interval, recording anti-skid strip information and the current position of the target mobile vehicle, wherein the amplitude of the first jump is greater than the amplitude of the second jump.

3. The method of claim 1, wherein, The obtaining of the plane identification information in the charging station based on the panoramic image data comprises: Based on the panoramic image data, obtaining the plane identification information in the charging station by a semantic separation model.

4. The method of claim 1, wherein, The obtaining of the plane identification information in the charging station based on the panoramic image data comprises: Based on the panoramic image data and the extrinsic parameters of the vehicle-mounted image collection device, converting the panoramic image data into overhead perspective image data to obtain the plane identification information in the charging station.

5. The method of claim 4, wherein, Further comprising: Obtaining relative position information between the plane identification information and the vehicle; Based on the relative position information and the position of the vehicle in the pre-stored global map, calculating the position of the plane identification information in the pre-stored global map.

6. A charging station map synchronization apparatus, characterized by, Comprise: A first obtaining unit is configured to obtain IMU data of a target mobile vehicle in a charging station; A first determining unit is configured to determine three-dimensional feature road surface information in the charging station based on the IMU data of the target mobile vehicle; A second obtaining unit is configured to obtain panoramic image data of the target mobile vehicle collected by a vehicle-mounted image collection device of the target mobile vehicle in the charging station; A second determining unit is configured to obtain plane identification information in the charging station based on the panoramic image data; A synchronization unit is configured to synchronize the plane identification information and the three-dimensional feature road surface information to a pre-stored global map of the charging station; The first determining unit is further configured to, in the case that the IMU data indicates that the target mobile vehicle has continuous two first jumps in a preset time interval, record deceleration strip information and the current position of the target mobile vehicle; In a case where the IMU data indicates that the target moving vehicle has a plurality of continuous second jumps in a preset time interval, the anti-skid information and the current position of the target moving vehicle are recorded, and the amplitude of the first jump is greater than the amplitude of the second jump.

7. A computer readable storage medium characterized by The computer readable storage medium includes a stored program, wherein the program, when executed by a processor, implements the charging station map synchronization method of any one of claims 1-5.

8. An electronic device, comprising: The electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is configured to invoke program instructions in the memory to execute the charging station map synchronization method of any one of claims 1-5.

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