Tunnel mapping method, device and equipment, and storage medium

Abstract

The application provides a tunnel mapping method and device, equipment and a storage medium. The method comprises the following steps: determining a fixed detection vehicle and a plurality of mobile detection vehicles; taking at least one mobile detection vehicle as a reference mobile detection vehicle and determining a reference coordinate system; obtaining detection information of the reference mobile detection vehicle and data information of the remaining mobile detection vehicles in the reference coordinate system, wherein the data information comprises relative pose information, detection information and a corresponding conversion matrix; determining a world coordinate system based on the fixed detection vehicle and converting the data information into absolute data information in the world coordinate system; and matching and integrating the absolute data information to obtain target tunnel map information. The application converts the data information through a plurality of reference coordinate systems, does not cause error accumulation, and can improve the accuracy of the tunnel map to a certain extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent mapping, and more particularly, to a tunnel mapping method and device, equipment and a storage medium. BACKGROUND

[0002] With the development of science and technology, the advanced driving assistant system (ADAS) and automatic driving of vehicles have facilitated people's travel. The automatic driving vehicles can travel smoothly and safely, and high-precision maps are needed.

[0003] At present, vehicle-mounted mobile three-dimensional laser measurement is generally used to obtain map data. For example, a detection vehicle is equipped with a laser radar, the detection vehicle is controlled to perform three-dimensional data scanning of the laser radar, a series of point cloud data is obtained, and then the point cloud data is spliced to obtain a corresponding map. This technology mainly relies on the global navigation satellite system (GNSS), but due to the complex geographical environment, narrow and closed space, and long longitudinal distance of the tunnel, and the fact that the shell of the tunnel is generally composed of mountain rock walls or reinforced concrete, the shielding effect of the tunnel on signals is very serious, and the GNSS signal cannot penetrate the tunnel shell to reach the inside of the tunnel.

[0004] Due to the absence of GNSS signals, the pose data of the vehicle-mounted mobile measurement system can only be provided by an inertial navigation system and an odometer, thereby causing error accumulation and resulting in inaccurate spatial positions of the collected point cloud data inside the tunnel, which cannot meet the demand for high-precision tunnel maps. SUMMARY

[0005] Some embodiments of the present application provide a tunnel mapping method, device, equipment and storage medium that can at least partially solve the above-mentioned problems existing in the prior art.

[0006] According to one aspect of the present application, a tunnel mapping method is provided, which can include: determining a fixed detection vehicle and a plurality of mobile detection vehicles; taking at least one of the mobile detection vehicles as a reference mobile detection vehicle and determining a reference coordinate system; obtaining detection information of the reference mobile detection vehicle and data information of the remaining mobile detection vehicles in the reference coordinate system, wherein the data information includes relative pose information, the detection information and a corresponding conversion matrix; determining a world coordinate system based on the fixed detection vehicle, converting the data information into absolute data information in the world coordinate system; and matching and integrating the absolute data information to obtain target tunnel map information.

[0007] In an embodiment of the present application, determining the fixed detection vehicle and the plurality of mobile detection vehicles can include determining the number of the mobile detection vehicles and the interval distance between adjacent mobile detection vehicles based on the length of the tunnel and the detection range of the detection device.

[0008] In an embodiment of the present application, obtaining the detection information of the reference mobile detection vehicle and the data information of the rest of the mobile detection vehicles in the reference coordinate system can include selecting a first reference mobile detection vehicle and establishing a corresponding first reference coordinate system; and obtaining first data information of the mobile detection vehicles in the first mobile detection vehicle set in the first reference coordinate system, wherein the first data information includes first relative pose information, first detection information, and a corresponding first conversion matrix, and the mobile detection vehicles in the first mobile detection vehicle set are within the detection range of the detection device of the first reference mobile detection vehicle.

[0009] In an embodiment of the present application, obtaining the detection information of the reference mobile detection vehicle and the data information of the rest of the mobile detection vehicles in the reference coordinate system can further include selecting a second reference mobile detection vehicle and establishing a corresponding second reference coordinate system, wherein the distance between the second reference mobile detection vehicle and the first reference mobile detection vehicle is less than the detection range of the detection device; obtaining second data information of the mobile detection vehicles in the first reference mobile detection vehicle and the second mobile detection vehicle set in the second reference coordinate system, wherein the second data information includes second relative pose information, second detection information, and a corresponding second conversion matrix, and the mobile detection vehicles in the second mobile detection vehicle set are within the detection range of the detection device of the second reference mobile detection vehicle; and determining the second data information of the mobile detection vehicles in the first mobile detection vehicle set in the second reference coordinate system based on the first data information and the second data information.

[0010] In an embodiment of the present application, obtaining the detection information of the reference mobile detection vehicle and the data information of the rest of the mobile detection vehicles in the reference coordinate system can further include selecting a third reference mobile detection vehicle and establishing a third reference coordinate system, wherein the distance between the third reference mobile detection vehicle and the fixed detection vehicle is less than or equal to the detection range of the detection device of the fixed detection vehicle; and determining third data information of the mobile detection vehicles in the first mobile detection vehicle set and the second mobile detection vehicle set in the third reference coordinate system based on the second data information.

[0011] Another aspect of the present application provides a tunnel mapping device, which can include: a vehicle determination module configured to determine a fixed probe vehicle and a plurality of mobile probe vehicles; a reference mobile probe vehicle selection module configured to select at least one of the mobile probe vehicles as a reference mobile probe vehicle and determine a reference coordinate system; a data information acquisition module configured to acquire probe information of the reference mobile probe vehicle and data information of the remaining mobile probe vehicles in the reference coordinate system, wherein the data information includes relative pose information, the probe information, and a corresponding conversion matrix; a data conversion module configured to convert the data information into absolute data information in a world coordinate system based on the fixed probe vehicle determining the world coordinate system; and an information matching module configured to match and integrate the absolute data information to obtain target tunnel map information.

[0012] In an embodiment of the present application, the data information acquisition module can be configured to: select a first reference mobile probe vehicle and establish a corresponding first reference coordinate system; and acquire first data information of the mobile probe vehicles in a first mobile probe vehicle set in the first reference coordinate system, wherein the first data information includes first relative pose information, first probe information, and a corresponding first conversion matrix, and the mobile probe vehicles in the first mobile probe vehicle set are within a detection range of a detection device of the first reference mobile probe vehicle.

[0013] In an embodiment of the present application, the data information acquisition module can be further configured to: select a second reference mobile probe vehicle and establish a corresponding second reference coordinate system, wherein a distance between the second reference mobile probe vehicle and the first reference mobile probe vehicle is less than the detection range of the detection device; acquire second data information of the mobile probe vehicles in the first reference mobile probe vehicle and a second mobile probe vehicle set in the second reference coordinate system, wherein the second data information includes second relative pose information, second probe information, and a corresponding second conversion matrix, and the mobile probe vehicles in the second mobile probe vehicle set are within the detection range of the detection device of the second reference mobile probe vehicle; and determine the second data information of the mobile probe vehicles in the first mobile probe vehicle set in the second reference coordinate system based on the first data information and the second data information.

[0014] In an embodiment of the present application, the data information obtaining module can be further configured to: select a third reference mobile probe vehicle and establish a third reference coordinate system, wherein the distance between the third reference mobile probe vehicle and the fixed probe vehicle is less than or equal to the detection range of the detection device of the fixed probe vehicle; and determine third data information of the mobile probe vehicles in the first mobile probe vehicle set and the second mobile probe vehicle set in the third reference coordinate system based on the second data information.

[0015] In yet another aspect of the present application, an electronic device is provided, which can include a processor adapted to execute a computer program, and a computer readable storage medium having stored therein the computer program, which, when executed by the processor, implements the tunnel mapping method of any of the above.

[0016] In yet another aspect of the present application, a computer readable storage medium is provided, which is configured to store a computer program, which causes a computer to execute the tunnel mapping method of any of the above.

[0017] According to the exemplary embodiments of the present application, the data information between different reference coordinate systems is converted, and finally converted into absolute data information in a world coordinate system. The detection information is registered based on the absolute data information, and the target tunnel map information is obtained. The error of different reference coordinate systems is derived from the detection error, and is an undirectional error. The data information is converted by using multiple reference coordinate systems, which does not cause the accumulation of error, and can improve the accuracy of the tunnel map to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0018] Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments thereof as taken in conjunction with the accompanying drawings. In the drawings:

[0019] Figure 1 FIG. 1 is a flowchart of a tunnel mapping method according to an embodiment of the present application;

[0020] Figure 2 FIG. 2 is a schematic diagram of a tunnel mapping device according to an embodiment of the present application;

[0021] Figure 3 FIG. 3 is a structural schematic diagram of an electronic device 3000 according to an embodiment of the present disclosure, which is adapted to be used to implement the embodiments of the present disclosure. DETAILED DESCRIPTION

[0022] For a better understanding of the present application, various aspects of the present application will be described in more detail below with reference to the accompanying drawings. It is to be noted that these details are merely exemplary of the present application and are intended for purposes of illustration only and are not intended to limit the scope of the application in any way. Throughout this specification, like reference numbers can refer to like elements throughout the various figures and examples. The expression "and / or" encompasses any and all combinations of one or more of the associated listed items.

[0023] In the drawings, the size, dimensions, and / or proportions of the elements have been slightly adjusted for the purpose of illustration. The drawings are not strictly to scale and are merely illustrative. As used in this document, the terms "approximately," "about," and similar terms are used as terms of approximation and not as terms of degree, and are intended to account for the inherent deviations in a measuring or computing process. Additionally, in the present application, the order of the steps of the process described does not necessarily indicate the order in which the processes occur in actual operation, unless otherwise specified or derivable from context.

[0024] It should also be understood that expressions such as "include", "including", "have", "has", "contain", and / or "containing", and the like, are open-ended terms that are used to indicate the presence of something and that do not exclude the presence of one or more additional features, elements, components, and / or combinations thereof. In addition, when expressions such as "at least one of" appear alongside a list of two or more items, they are used to indicate that every item in the list can be present, individually or in combination with one or more other items. Furthermore, when describing embodiments of the present application, the use of "may" means "one or more embodiments of the present application". Also, the use of the term "exemplary" is intended to present examples or illustrations. It should also be understood that the use of "a" or "an" is not intended to be limiting, such that for example, "an element" can refer to one or more elements.

[0025] Unless otherwise defined, all terms used in this document, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be understood that the words "define", "define", "define", and the like, as defined in common dictionaries, should be interpreted as having meanings consistent with their use in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense.

[0026] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0027] Figure 1 A flowchart of a tunnel mapping method 1000 according to an embodiment of the present application is shown. As shown in FIG. 10, the tunnel mapping method 1000 can include: Figure 1

[0028] ​Step S100: determining a fixed detection vehicle and a plurality of mobile detection vehicles;

[0029] Step S200: taking at least one mobile detection vehicle as a reference mobile detection vehicle, and determining a reference coordinate system;

[0030] Step S300: obtaining detection information of the reference mobile detection vehicle and data information of the remaining mobile detection vehicles in the reference coordinate system, the data information including relative pose information, detection information, and a corresponding conversion matrix;

[0031] Step S400: determining a world coordinate system based on the fixed detection vehicle, and converting the data information into absolute data information in the world coordinate system;

[0032] Step S500: matching and integrating the absolute data information to obtain target tunnel map information.

[0033] The specific content of each step of the tunnel mapping method 1000 will be described in detail below.

[0034] Step S100

[0035] In the example embodiments of the present application, first, a fixed detection vehicle and a plurality of mobile detection vehicles are determined, wherein the fixed detection vehicle and the mobile detection vehicles are both equipped with detection devices (such as laser radars) to detect the surrounding environment and obtain detection information. The fixed detection vehicle can be fixed at the entrance and exit positions of the tunnel, and the mobile detection vehicles can move inside the tunnel to obtain detection information inside the tunnel. For example, the number of mobile detection vehicles and the interval distance between adjacent mobile detection vehicles can be determined based on the length of the tunnel and the detection range of the detection device, wherein the interval distance between adjacent mobile detection vehicles is less than the detection range of the detection device. For example, the length of the tunnel is L, the interval distance between adjacent mobile detection vehicles is a, and the maximum range that the fixed detection vehicle can detect is b. The minimum number of mobile detection vehicles can be set as (L-b) / a.

[0036] Step S200 and Step S300

[0037] In the example embodiments of the present application, after the fixed detection vehicle and the plurality of mobile detection vehicles are determined, at least one mobile detection vehicle can be taken as a reference mobile detection vehicle, and a reference coordinate system is determined. Then, the detection information of the reference mobile detection vehicle and the data information of the remaining mobile detection vehicles in the reference coordinate system are obtained, and the data information includes relative pose information, detection information, and a corresponding conversion matrix.

[0038] Exemplarily, the mobile detection vehicles can keep a low relative distance and travel at a low speed, and collect tunnel internal information during the travel. First, one of the mobile detection vehicles is selected as a first reference mobile detection vehicle and a corresponding first reference coordinate system is established, and then a first mobile detection vehicle set is determined, wherein the first mobile detection vehicle set is the mobile detection vehicles within the detection range of the detection device of the first reference mobile detection vehicle. First data information of the mobile detection vehicles in the first mobile detection vehicle set in the first reference coordinate system is obtained, wherein the first data information includes first relative pose information, first detection information, and a corresponding first conversion matrix. Taking 20 mobile detection vehicles as an example, the fourth mobile detection vehicle can be selected as the first reference mobile detection vehicle, the detection range of the detection device of the fourth vehicle is the second mobile detection vehicle to the sixth mobile detection vehicle, so that the second, third, fifth, and sixth mobile detection vehicles can be selected as the first mobile detection vehicle set, and the fourth mobile detection vehicle can be selected as the first reference coordinate system. By combining visual fusion perception technology, the first data information of the second, third, fifth, and sixth mobile detection vehicles is obtained, wherein the first data information can include the position information, attitude information, detection information, and corresponding first conversion matrix of the second, third, fifth, and sixth mobile detection vehicles in the first reference coordinate system, and the detection information can be point cloud information.

[0039] In the exemplary embodiments of the present application, at the same time, a second reference mobile detection vehicle can also be selected and a corresponding second reference coordinate system can be established, wherein the distance between the second reference mobile detection vehicle and the first reference mobile detection vehicle is less than the detection range of the detection device. Then, second data information of the mobile detection vehicles in the first reference mobile detection vehicle and a second mobile detection vehicle set in the second reference coordinate system is obtained, wherein the second data information includes second relative pose information, second detection information, and a corresponding second conversion matrix, and the mobile detection vehicles in the second mobile detection vehicle set are within the detection range of the detection device of the second reference mobile detection vehicle. Exemplarily, the sixth mobile detection vehicle can be selected as the second reference mobile detection vehicle, the detection range of the detection device of the sixth vehicle is the fourth mobile detection vehicle to the eighth mobile detection vehicle, so that the fourth, fifth, seventh, and eighth mobile detection vehicles can be selected as the second mobile detection vehicle set, and the sixth mobile detection vehicle can be selected as the second reference coordinate system. By combining visual fusion perception technology, the second data information of the fourth, fifth, seventh, and eighth mobile detection vehicles is obtained, wherein the second data information can include the position information, attitude information, detection information, and corresponding second conversion matrix of the fourth, fifth, seventh, and eighth mobile detection vehicles in the second reference coordinate system, and the detection information can be point cloud information.

[0040] In the exemplary embodiments of the present application, the second data information of the mobile probe vehicles in the first mobile probe vehicle set in the second reference coordinate system can also be determined based on the first data information and the second data information. For example, the first data information of the 2nd, 3rd, 5th and 6th mobile probe vehicles in the first reference coordinate system (i.e., the 4th mobile probe vehicle is the reference mobile probe vehicle) is converted into the second data information in the second reference coordinate system (i.e., the 6th mobile probe vehicle is the reference mobile probe vehicle). By repeating the above operation of selecting the second reference mobile probe vehicle, the data conversion between different reference coordinate systems can be completed.

[0041] In the exemplary embodiments of the present application, a third reference coordinate system is established by selecting a third reference mobile probe vehicle, wherein the distance between the third reference mobile probe vehicle and the fixed probe vehicle is less than or equal to the detection range of the detection device of the fixed probe vehicle. Then, the third data information of the mobile probe vehicles in the first mobile probe vehicle set and the second mobile probe vehicle set in the third reference coordinate system is determined based on the second data information. For example, the detection range of the detection device of the fixed probe vehicle can detect the 1st and 2nd mobile probe vehicles, and thus the 1st, 2nd, 19th or 20th mobile probe vehicle can be selected as the third reference mobile probe vehicle. In the present application, the 1st mobile probe vehicle is taken as the third reference mobile probe vehicle, and the remaining 19 mobile probe vehicles are converted into the third data information in the third reference coordinate system by using the second data information obtained when the remaining 19 mobile probe vehicles are taken as the second reference mobile probe vehicle. For example, the coordinates and point cloud information of the remaining 19 mobile probe vehicles are converted into the third reference coordinate system.

[0042] In the exemplary embodiments of the present application, a plurality of third reference coordinate systems can also be established by selecting a plurality of third reference mobile probe vehicles, and a plurality of third data information of the mobile probe vehicles in the first mobile probe vehicle set and the second mobile probe vehicle set in the plurality of third reference coordinate systems is determined based on the second data information. By comparing the plurality of third data information, the final third data information can be determined, and the detection error of the mobile probe vehicle can be eliminated to a certain extent. According to the exemplary embodiments of the present application, the data information of the remaining mobile probe vehicles can be converted between different reference coordinate systems by setting the reference mobile probe vehicle and the corresponding reference coordinate system by the detection range of the detection device multiple times, and finally the data information of the mobile probe vehicle can be converted into the data information in the reference coordinate system corresponding to the reference mobile probe vehicle within the detection range of the detection device of the fixed probe vehicle.

[0043] Steps S400 and S500

[0044] In the example embodiments of the present application, the world coordinate system can also be determined based on the fixed detection vehicle, and the data information can be converted into absolute data information in the world coordinate system. For example, the world coordinate system can be established based on the fixed detection vehicles arranged at the entrance and exit of the tunnel, and the third data information in the third reference coordinate system can be converted into absolute data information in the world coordinate system.

[0045] In the example embodiments of the present application, steps S200 to S400 can be repeated at different times to obtain absolute data information at multiple times. Then, the absolute data information can be matched and integrated to obtain the target tunnel map information. For example, the corresponding detection information (point cloud data) can be matched based on the position information and attitude information of the absolute data information. For example, the NDT algorithm can be used to register the point cloud data, that is, the point cloud data at different times is divided into voxel blocks according to a certain size, the distribution parameters in the voxel blocks are calculated, the optimal matching between the voxel blocks is determined based on the corresponding conversion matrix, and then the point cloud data is spliced based on the matching information, and finally the target tunnel map information is obtained. In the present application, the NDT algorithm is used as an example to register the point cloud data, and those skilled in the art can understand that other registration algorithms such as the ICP algorithm can also be used, which are not limited in the present application.

[0046] According to the example embodiments of the present application, the data information between different reference coordinate systems is converted into absolute data information in the world coordinate system, the detection information is registered based on the absolute data information, and the target tunnel map information is obtained. The error of different reference coordinate systems is derived from the detection error and is an undirectional error. By converting the data information through multiple reference coordinate systems, the error accumulation is avoided, and the accuracy of the tunnel map can be improved to a certain extent.

[0047] Another aspect of the present application also provides a tunnel mapping device. Figure 2 A schematic diagram of the tunnel mapping device 2000 according to the example embodiments of the present application is shown in FIG. 2. As shown in FIG. 2, the tunnel mapping device 2000 can include a vehicle determination module 2100, a reference mobile detection vehicle selection module 2200, a data information acquisition module 2300, a data conversion module 2400, and an information matching module 2500. Figure 2

[0048] ​In the example embodiments of the present application, the vehicle determination module 2100 can be configured to determine the fixed detection vehicle and the plurality of mobile detection vehicles. The fixed detection vehicle and the mobile detection vehicle are both equipped with a detection device (e.g., a laser radar) to detect the surrounding environment and obtain detection information. The fixed detection vehicle can be fixed at the entrance and exit positions of the tunnel, and the mobile detection vehicle can move inside the tunnel to obtain the detection information inside the tunnel. The number of mobile detection vehicles and the interval distance between adjacent mobile detection vehicles can be determined based on the length of the tunnel and the detection range of the detection device, wherein the interval distance between adjacent mobile detection vehicles is less than the detection range of the detection device. For example, the length of the tunnel is L, the interval distance between adjacent mobile detection vehicles is a, and the maximum range of the fixed detection vehicle is b. The minimum number of mobile detection vehicles can be set as (L-b) / a.

[0049] In the example embodiments of the present application, the reference mobile detection vehicle selection module 2200 can be configured to select at least one mobile detection vehicle as a reference mobile detection vehicle and determine a reference coordinate system. The data information acquisition module 2300 can be configured to obtain the detection information of the reference mobile detection vehicle and the data information of the remaining mobile detection vehicles in the reference coordinate system. The data information includes relative pose information, detection information, and a corresponding conversion matrix.

[0050] The mobile detection vehicle can maintain a low relative distance and move at a low speed to collect information inside the tunnel. First, one of the mobile detection vehicles is selected as a first reference mobile detection vehicle and a corresponding first reference coordinate system is established. Then, a first mobile detection vehicle set is determined, wherein the first mobile detection vehicle set includes the mobile detection vehicles within the detection range of the detection device of the first reference mobile detection vehicle. First data information of the mobile detection vehicles in the first mobile detection vehicle set in the first reference coordinate system is obtained, wherein the first data information includes first relative pose information, first detection information, and a corresponding first conversion matrix. For example, the fourth mobile detection vehicle can be selected as the first reference mobile detection vehicle, and the detection range of the detection device of the fourth mobile detection vehicle can include the second, third, fifth, and sixth mobile detection vehicles. The second, third, fifth, and sixth mobile detection vehicles can be selected as the first mobile detection vehicle set, and the fourth mobile detection vehicle can be selected as the first reference coordinate system. The first data information of the second, third, fifth, and sixth mobile detection vehicles can be obtained by using the visual fusion perception technology, wherein the first data information can include the position information, attitude information, detection information, and a corresponding first conversion matrix of the second, third, fifth, and sixth mobile detection vehicles in the first reference coordinate system. The detection information can be point cloud information.

[0051] In the exemplary embodiments of the present application, at the same time, a second reference mobile detection vehicle can also be selected and a corresponding second reference coordinate system can be established, wherein the distance between the first reference mobile detection vehicle and the second reference mobile detection vehicle is less than the detection range of the detection device. Then, second data information of the mobile detection vehicles in the second reference coordinate system can be obtained, wherein the second data information includes second relative pose information, second detection information and a corresponding second conversion matrix, and the mobile detection vehicles in the second mobile detection vehicle set are within the detection range of the detection device of the second reference mobile detection vehicle. For example, the 6th mobile detection vehicle can be selected as the second reference mobile detection vehicle, and the detection range of the detection device of the 6th mobile detection vehicle is the 4th mobile detection vehicle to the 8th mobile detection vehicle. Thus, the 4th, 5th, 7th and 8th mobile detection vehicles can be selected as the second mobile detection vehicle set, and the 6th mobile detection vehicle can be selected as the second reference coordinate system. In combination with the visual fusion perception technology, the second data information of the 4th, 5th, 7th and 8th mobile detection vehicles can be obtained, wherein the second data information can include the position information, attitude information and detection information of the 4th, 5th, 7th and 8th mobile detection vehicles in the second reference coordinate system and the corresponding second conversion matrix, and the detection information can be point cloud information.

[0052] In the exemplary embodiments of the present application, the first data information and the second data information can be used to determine the second data information of the mobile detection vehicles in the first mobile detection vehicle set in the second reference coordinate system. For example, the first data information of the 2nd, 3rd, 5th and 6th mobile detection vehicles in the first reference system (i.e., the 4th mobile detection vehicle is the reference mobile detection vehicle) can be converted into the second data information in the second reference coordinate system (i.e., the 6th mobile detection vehicle is the reference mobile detection vehicle). By repeating the operation of selecting the second reference mobile detection vehicle, the data conversion between different reference coordinate systems can be completed.

[0053] In the exemplary embodiments of the present application, a third reference mobile detection vehicle is selected and a third reference coordinate system is established, wherein the distance between the third reference mobile detection vehicle and the fixed detection vehicle is less than or equal to the detection range of the detection device of the fixed detection vehicle. Then, the third data information of the mobile detection vehicles in the first mobile detection vehicle set and the second mobile detection vehicle set in the third reference coordinate system is determined based on the second data information. For example, the detection range of the detection device of the fixed detection vehicle can detect the first mobile detection vehicle and the second mobile detection vehicle, and thus the first mobile detection vehicle, the second mobile detection vehicle, the nineteenth mobile detection vehicle or the twentieth mobile detection vehicle can be selected as the third reference mobile detection vehicle. In the exemplary embodiments of the present application, the first mobile detection vehicle is taken as the third reference mobile detection vehicle, and the remaining 19 mobile detection vehicles are converted into the third data information in the third reference coordinate system by the second data information obtained when the remaining 19 mobile detection vehicles are taken as the second reference mobile detection vehicle. For example, the coordinates and point cloud information of the remaining 19 mobile detection vehicles are converted into the third reference coordinate system.

[0054] In the exemplary embodiments of the present application, a plurality of third reference mobile detection vehicles can be selected and a plurality of corresponding third reference coordinate systems can be established, and a plurality of third data information of the mobile detection vehicles in the first mobile detection vehicle set and the second mobile detection vehicle set in the plurality of third reference coordinate systems can be determined based on the second data information. By comparing the plurality of third data information, the final third data information can be determined, and the detection error of the mobile detection vehicle can be eliminated to a certain extent.

[0055] According to the exemplary embodiments of the present application, by setting the reference mobile detection vehicle and the corresponding reference coordinate system by the detection range of the detection device for multiple times, the data information of the remaining mobile detection vehicles can be converted between different reference coordinate systems, and finally the data information of the mobile detection vehicle can be converted into the data information in the reference coordinate system corresponding to the reference mobile detection vehicle within the detection range of the detection device of the fixed detection vehicle.

[0056] In the exemplary embodiments of the present application, the data conversion module 2400 can be used to determine the world coordinate system based on the fixed detection vehicle, and convert the data information into absolute data information in the world coordinate system. For example, the world coordinate system is established based on the fixed detection vehicles arranged at the entrance and exit positions of the tunnel, and the third data information in the third reference coordinate system is converted into the absolute data information in the world coordinate system.

[0057] In the example embodiments of the present application, the information matching module 2500 can be configured to match and integrate the absolute data information to obtain the target tunnel map information. For example, the corresponding detection information (point cloud data) can be matched based on the position information and the attitude information of the absolute data information. For example, the NDT algorithm can be used to register the point cloud data, i.e., the point cloud data at different times is divided into voxel blocks according to a certain size, the distribution parameters in the voxel blocks are calculated, the optimal matching between the voxel blocks is determined based on the corresponding conversion matrix, then the point cloud data is spliced based on the matching information, and finally the target tunnel map information is obtained. In the example embodiments of the present application, the NDT algorithm is used to register the point cloud data, and those skilled in the art can understand that other registration algorithms such as the ICP algorithm can also be used, which is not limited in the present application.

[0058] According to the example embodiments of the present application, the data information between different reference coordinate systems is converted into absolute data information in the world coordinate system, the detection information is registered based on the absolute data information, and the target tunnel map information is obtained. The error of the different reference coordinate systems is derived from the detection error and is an undirectional error. The data information is converted through multiple reference coordinate systems, which does not cause the accumulation of errors, and can improve the accuracy of the tunnel map to a certain extent.

[0059] The present application also provides an electronic device and a computer readable storage medium. Figure 3 is a structural schematic diagram of an electronic device 3000 suitable for implementing the embodiments of the present application according to the embodiments of the present application. The following refers to Figure 3 which shows a structural schematic diagram of an electronic device 3000 suitable for implementing the embodiments of the present application. The terminal device in the embodiments of the present application can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablets), PMPs (portable multimedia players), vehicle-mounted terminals (such as mobile terminals for vehicle navigation terminals and the like), and fixed terminals such as digital TVs, desktop computers and the like. Figure 3 The terminal device / server shown is only an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0060] As Figure 3As shown, the electronic device 3000 can include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 310 that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 320 or loaded into a random access memory (RAM) 330 from a storage device 380. Various programs and data required for the operation of the electronic device 3000 are also stored in the RAM 330. The processing device 310, the ROM 320, and the RAM 330 are connected to each other through a bus 340. An input / output (I / O) interface 350 is also connected to the bus 340.

[0061] In general, the following devices can be connected to the I / O interface 350: input devices 360 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 370 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 380 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 390. The communication devices 390 can allow the electronic device 3000 to communicate wirelessly or wired with other devices to exchange data. Although Figure 3 The electronic device 3000 is shown with various devices, but it should be understood that all of the illustrated devices are not required, and more or fewer devices can alternatively be implemented. Figure 3 Each block shown in the flowcharts can represent a device, or multiple devices, as necessary.

[0062] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication devices 390, or installed from the storage devices 380, or installed from the ROM 320. When the computer program is executed by the processing device 310, the above-described functions defined in the methods of embodiments of the present disclosure are performed.

[0063] It should be noted that the computer readable medium in the embodiments of the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the embodiments of the present disclosure, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the embodiments of the present disclosure, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to a wire, a cable, an RF (radio frequency) or the like, or any suitable combination of the above.

[0064] The computer readable medium described above can be contained in the electronic device described above, or can exist separately and not be assembled into the electronic device. The computer readable medium described above carries one or more programs, which, when executed by the electronic device, enable the electronic device to determine a fixed detection vehicle and a plurality of mobile detection vehicles; determine a reference mobile detection vehicle as a reference mobile detection vehicle and determine a reference coordinate system; obtain detection information of the reference mobile detection vehicle and data information of the remaining mobile detection vehicles in the reference coordinate system, the data information including relative pose information, detection information and a corresponding conversion matrix; determine a world coordinate system based on the fixed detection vehicle and convert the data information into absolute data information in the world coordinate system; and match and integrate the absolute data information to obtain target tunnel map information.

[0065] Computer program code for carrying out operations of embodiments of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0066] The computer program instructions can also be loaded onto a computer or other programmable information processing apparatus to cause a series of operations to be performed on the computer or other programmable information processing apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable information processing apparatus implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0067] The specific implementation described above is for the purpose of explanation only and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A tunnel mapping method, characterized in that, The method comprises: determining a fixed detection vehicle and a plurality of mobile detection vehicles; wherein the fixed detection vehicle is fixed at an entrance position and an exit position of a tunnel; taking at least one of the mobile detection vehicles as a reference mobile detection vehicle, and determining a reference coordinate system; obtaining detection information of the reference mobile detection vehicle and data information of the rest of the mobile detection vehicles in the reference coordinate system, wherein the data information comprises relative pose information, the detection information and a corresponding conversion matrix; determining a world coordinate system based on the fixed detection vehicle, and converting the data information into absolute data information in the world coordinate system; matching and integrating the absolute data information to obtain target tunnel map information; obtaining detection information of the reference mobile detection vehicle and data information of the rest of the mobile detection vehicles in the reference coordinate system comprises: selecting a first reference mobile detection vehicle and establishing a corresponding first reference coordinate system; obtaining first data information of the mobile detection vehicles in the first reference coordinate system in a first mobile detection vehicle set, wherein the first data information comprises first relative pose information, first detection information and a corresponding first conversion matrix, and the mobile detection vehicles in the first mobile detection vehicle set are within a detection range of a detection device of the first reference mobile detection vehicle.

2. The tunnel mapping method of claim 1, wherein, determining a fixed detection vehicle and a plurality of mobile detection vehicles comprises: determining the number of the mobile detection vehicles and the interval distance between adjacent mobile detection vehicles based on the length of the tunnel and the detection range of the detection device.

3. The tunnel mapping method of claim 1, wherein, obtaining detection information of the reference mobile detection vehicle and data information of the rest of the mobile detection vehicles in the reference coordinate system further comprises: selecting a second reference mobile detection vehicle and establishing a corresponding second reference coordinate system, wherein the distance between the second reference mobile detection vehicle and the first reference mobile detection vehicle is less than the detection range of the detection device; obtaining second data information of the mobile detection vehicles in the second reference coordinate system in a second mobile detection vehicle set and the first reference mobile detection vehicle, wherein the second data information comprises second relative pose information, second detection information and a corresponding second conversion matrix, and the mobile detection vehicles in the second mobile detection vehicle set are within the detection range of the detection device of the second reference mobile detection vehicle; determining the second data information of the mobile detection vehicles in the second mobile detection vehicle set in the second reference coordinate system based on the first data information and the second data information.

4. The tunnel mapping method of claim 3, wherein, obtaining detection information of the reference mobile detection vehicle and data information of the rest of the mobile detection vehicles in the reference coordinate system further comprises: selecting a third reference mobile detection vehicle and establishing a third reference coordinate system, wherein the distance between the third reference mobile detection vehicle and the fixed detection vehicle is less than or equal to the detection range of the detection device of the fixed detection vehicle; Determine third data information of the mobile probe vehicles in the third reference coordinate system based on the second data information.

5. A tunnel mapping device, characterized by, The device comprises: A vehicle determination module is configured to determine a fixed probe vehicle and a plurality of mobile probe vehicles, wherein the fixed probe vehicle is fixed at an entrance position and an exit position of a tunnel. A reference mobile probe vehicle selection module is configured to select at least one mobile probe vehicle as a reference mobile probe vehicle and determine a reference coordinate system. A data information acquisition module is configured to acquire detection information of the reference mobile probe vehicle and data information of the remaining mobile probe vehicles in the reference coordinate system, wherein the data information comprises relative pose information, the detection information and a corresponding conversion matrix. A data conversion module is configured to determine a world coordinate system based on the fixed probe vehicle and convert the data information into absolute data information in the world coordinate system. An information matching module is configured to match and integrate the absolute data information to obtain target tunnel map information. The data information acquisition module is configured to: Select a first reference mobile probe vehicle and establish a corresponding first reference coordinate system. Acquire first data information of the mobile probe vehicles in the first reference coordinate system, wherein the first data information comprises first relative pose information, first detection information and a corresponding first conversion matrix, and the mobile probe vehicles in the first mobile probe vehicle set are within a detection range of a detection device of the first reference mobile probe vehicle.

6. The tunnel mapping device of claim 5, wherein, The data information acquisition module is further configured to: Select a second reference mobile probe vehicle and establish a corresponding second reference coordinate system, wherein a distance between the second reference mobile probe vehicle and the first reference mobile probe vehicle is less than the detection range of the detection device. Acquire second data information of the mobile probe vehicles in the second reference coordinate system, wherein the second data information comprises second relative pose information, second detection information and a corresponding second conversion matrix, and the mobile probe vehicles in the second mobile probe vehicle set are within the detection range of the detection device of the second reference mobile probe vehicle. Determine the second data information of the mobile probe vehicles in the second reference coordinate system based on the first data information and the second data information.

7. An electronic device, comprising: Comprise: A processor adapted to execute a computer program; And A computer readable storage medium having a computer program stored therein, wherein the computer program is executed by the processor to implement the tunnel mapping method according to any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, A computer program for storing a computer program, which makes the computer execute the tunnel mapping method according to any one of claims 1 to 4.

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