Parking lot map construction method and device, vehicle and readable storage medium
By establishing local coordinate systems in the parking lot and real-time calculation of vehicle coordinates, the problem of inaccurate construction of parking lot maps is solved, and multi-entry map fusion and more accurate underground parking lot positioning are achieved.
Patent Information
- Application Number
- CN202411567221.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-05
- Publication Date
- 2025-02-25
AI Technical Summary
In the prior art, the construction of parking lot maps is inaccurate, especially when the car enters the underground parking lot, the positioning strength is weak, resulting in inaccurate positioning information.
By establishing a local coordinate system for parking lots, the vehicle coordinates are calculated in real time, and the coordinates of feature points are obtained based on the conversion matrix, and coordinate transformation is performed to generate or update the parking lot map.
The integration of maps when entering the same parking lot from the entrances of different parking lots is achieved, which improves the problem of inaccurate positioning after underground parking lots, and improves the accuracy and coverage of the map.
Smart Images
Figure CN119509514A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of map construction, and in particular relates to a parking lot map construction method, device, vehicle and readable storage medium. Background Art
[0002] The current memory parking technology relies on anchor points to locate each memory element to achieve memory parking. Therefore, it needs to be memorized once after entering the basement. It is impossible to achieve the fusion of multiple memories, let alone the fusion of memory maps at multiple entrances of the same parking lot.
[0003] With the development of multi-source fusion mapping, there is a technology in the prior art that fuses each map constructed when each driver parks in the same parking lot into a parking lot map. However, since the positioning strength of the car is weak after entering the underground parking lot and the positioning information is inaccurate, the result of the parking lot map construction method is not accurate. Summary of the invention
[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a parking lot map construction method, device, vehicle and readable storage medium, which solve the problems of inaccurate parking lot map construction and signal restrictions when parking a car.
[0005] To achieve the above purpose, the present invention adopts the following technical solution.
[0006] A first aspect of the present invention provides a parking lot map construction method, comprising: Establish the local coordinate system of the parking lot; The vehicle coordinates are calculated in real time, and a conversion matrix for converting the vehicle coordinate system to the parking lot local coordinate system is obtained according to the positions of the vehicle coordinates and the parking lot local coordinate system; Acquire the coordinates of the feature points in the vehicle coordinate system, and acquire the coordinates of the feature points in the local coordinate system of the parking lot based on the transformation matrix, that is, the local feature point coordinates; Through the latitude and longitude of the origin of the local coordinate system of the parking lot, the coordinates of the local feature points are transformed to obtain the corresponding coordinates of the feature points in the global coordinate system, that is, the global feature point coordinates; The vehicle coordinates in the local coordinate system of the parking lot from different entrances are obtained, the vehicle coordinates are matched with the global feature point coordinates, and a parking lot map is generated or updated.
[0007] As an implementation mode of the present invention, the establishment of a local coordinate system of the parking lot includes: Get the critical point of the vehicle entering the parking lot entrance; A local coordinate system of the parking lot is established with the critical point as the origin and the northeast direction as the coordinate axis.
[0008] As an implementation mode of the present invention, the step of obtaining the critical point of a vehicle entering a parking lot entrance includes: Get the vehicle GPS signal noise ratio; When the vehicle GPS signal noise ratio is lower than a preset threshold and the vehicle meets a first preset slope state, it is determined that the vehicle is in a parking lot; The positioning data of a preset length cached by the vehicle is obtained, and based on the point where the vehicle is located in the parking lot and the driving trajectory memorized before this point, the last point that meets the second preset slope state is used as the critical point when the vehicle enters the parking lot entrance.
[0009] As an implementation manner of the present invention, the feature points at least include pillars, walls, parking spaces and road markings in the parking lot.
[0010] As an implementation mode of the present invention, the real-time calculation of vehicle coordinates includes: The vehicle coordinates are calculated in real time based on the vehicle's wheel speed data and IMU data.
[0011] As an implementation mode of the present invention, after obtaining the vehicle coordinates in the local coordinate system of the parking lot from different entrances and matching the vehicle coordinates with the global feature point coordinates, the method includes: If the vehicle coordinates are connected with the ramp data, the parking lot map is updated.
[0012] A second aspect of the present invention provides a parking lot map construction device, comprising: A vehicle positioning dead reckoning unit, at least for calculating vehicle coordinates in real time; A local coordinate system building unit, used to build at least a local coordinate system of the parking lot; A conversion matrix construction unit, at least used to obtain a conversion matrix for converting a vehicle coordinate system to a parking lot local coordinate system according to the positions of the vehicle coordinates and the parking lot local coordinate system; A local feature point coordinate acquisition unit, at least used to acquire the feature point coordinates in the vehicle coordinate system, and acquire the feature point coordinates in the parking lot local coordinate system based on the conversion matrix, that is, the local feature point coordinates; The global feature point coordinate acquisition unit is at least used to transform the local feature point coordinates through the latitude and longitude of the origin of the local coordinate system of the parking lot to obtain the corresponding coordinates of the feature point in the global coordinate system, that is, the global feature point coordinates; The parking lot map construction unit is at least used to obtain the vehicle coordinates in the local coordinate system of the parking lot from different entrances, match the vehicle coordinates with the global feature point coordinates, and generate or update the parking lot map.
[0013] As an embodiment of the present invention, the local coordinate system construction unit is at least further used to obtain a critical point for a vehicle to enter an entrance of a parking lot; A local coordinate system of the parking lot is established with the critical point as the origin and the northeast direction as the coordinate axis.
[0014] A third aspect of the present invention provides a vehicle, which is capable of executing the steps of the parking lot map construction method as described in the first aspect of the present invention.
[0015] The fourth aspect of the present invention provides an electronic device, comprising: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the steps of the method described in the first aspect of the present invention.
[0016] A fifth aspect of the present invention provides a readable storage medium storing a computer program, wherein the computer program is executed by a processor to perform the steps of the method described in the first aspect of the present invention.
[0017] In summary, compared with the prior art, the present invention includes at least one of the following beneficial technical effects: 1. The present invention establishes a local coordinate system for the parking lot, which can reflect the characteristic point elements in the form of a global coordinate system; 2. The present invention can realize the fusion of parking lot maps created when entering the same parking lot from different parking lot entrances; 3. The present invention can improve the problem of weak positioning strength and inaccurate positioning in the prior art caused by the car entering the underground parking lot. Therefore, this method is more accurate than the initialization positioning after entering the parking lot. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.
[0019] Figure 1 It is a flowchart of a parking lot map construction method in a specific embodiment of the present invention.
[0020] Figure 2 It is a flowchart of another parking lot map construction method in a specific embodiment of the present invention.
[0021] Figure 3 1 is a schematic diagram of the conversion of characteristic points in a specific embodiment of the present invention.
[0022] Figure 4 This is a schematic diagram ② of the conversion of characteristic points in a specific embodiment of the present invention.
[0023] Figure 5 It is a flowchart of another parking lot map construction method in a specific embodiment of the present invention.
[0024] Figure 6 It is a block diagram of a parking lot map construction device in a specific embodiment of the present invention.
[0025] Figure 7 FIG. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION
[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application, and are not used to limit the present application.
[0027] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments of the present application. In addition, in the following embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in one embodiment, reference can be made to the relevant description of other embodiments.
[0028] In the present invention, the vehicle coordinate system refers to a coordinate system with the rear axle of the vehicle as the center, the front direction of the vehicle as the x-axis, and the vertical vehicle as the y-axis; the northeast celestial coordinate system is also called the global coordinate system, which is a three-dimensional coordinate system with the earth as a reference. The system determines the position of any point on the earth through three parameters: longitude, latitude and altitude. The northeast celestial coordinate system is global and not restricted by geographical location.
[0029] like Figure 1 As shown, the first aspect of the present invention provides a parking lot map construction method, comprising the following steps.
[0030] Step S100: Establishing a local coordinate system of the parking lot.
[0031] Specifically, Figure 2 As shown, in step S100, the establishment of the parking lot local coordinate system includes: Step S110: obtaining a critical point of a vehicle entering a parking lot entrance, wherein in an actual parking lot, there is more than one parking lot entrance, and the parking lot entrance obtained in the present invention is not limited to a specific entrance, that is, any parking lot entrance can be used to obtain the critical point; Step S120: Establish a local coordinate system of the parking lot with the critical point as the origin and the northeast celestial direction as the coordinate axis directions, namely the x-axis, y-axis and z-axis directions.
[0032] Specifically, the critical point represents a point representing the entrance of the parking lot, and the local coordinate system of the parking lot is a coordinate system with the entrance of the parking lot as the origin and the northeast sky direction as the x-axis, y-axis, and z-axis directions respectively.
[0033] Step S200: Calculate the vehicle coordinates in real time, and obtain a conversion matrix for converting the vehicle coordinate system to the parking lot local coordinate system according to the position of the vehicle coordinates relative to the parking lot local coordinate system.
[0034] The vehicle coordinates can be calculated in real time based on the vehicle's wheel speed data, IMU data, etc., and the conversion matrix for converting the vehicle coordinate system to the parking lot local coordinate system can be obtained according to the position of the vehicle relative to the parking lot local coordinate system.
[0035] In the process of mapping, since the movement of the vehicle is continuous, the coordinates of the vehicle are also continuous. In this way, the vehicle driving state can be mapped to the parking lot map corresponding to the local coordinate system of the parking lot.
[0036] Step S300: Acquire the coordinates of the feature points in the vehicle coordinate system, and acquire the coordinates of the feature points in the local coordinate system of the parking lot based on the conversion matrix. The acquired coordinates of the feature points in the local coordinate system of the parking lot are the local feature point coordinates, wherein the feature points at least include feature point elements such as pillars, walls, parking spaces and road markings in the parking lot. Specifically, the feature point elements are static elements compared to the car. When the vehicle is running in real time, the feature points such as pillars, walls, parking spaces, road markings, etc. can be obtained from the vehicle coordinate system in combination with the conversion matrix to obtain the coordinates of the feature points such as pillars, walls, parking spaces, road markings, etc. in the local coordinate system of the parking lot, i.e., the local feature point coordinates, thereby achieving the establishment and positioning of the feature points in the parking lot map. The coordinates of pillars, walls, parking spaces and road markings can be obtained based on the prior art. The present invention includes but is not limited to the feature points of pillars, walls, parking spaces and road markings. The feature point elements that are conducive to positioning are all within the scope of protection of the present invention.
[0037] Specifically, the coordinates of the feature points in the vehicle coordinate system can be obtained from the perception module or perception unit on the vehicle. The coordinates of the feature points in the vehicle coordinate system can be understood as the coordinates of the relative position of the feature points relative to the center of the rear axle of the vehicle. Based on the vehicle coordinates of the vehicle in the local coordinate system of the parking lot, the coordinates of the feature points relative to the vehicle can correspond to the coordinates of the feature points in the local coordinates of the parking lot. The coordinates of the feature points in the local coordinates of the parking lot are the local feature point coordinates.
[0038] like Figure 3 and Figure 4As shown, according to the output of the positioning module, the coordinates x_vel and y_vel of the vehicle in the local coordinate system of the map can be obtained; then based on the parameter transformation obtained by the perception module or the perception unit, the coordinates x_fea and y_fea of all feature points relative to the vehicle can be obtained; combining these two points, what is finally obtained is the coordinates x_map and y_map of the feature points in the local coordinate system of the map, that is, the coordinates of the local feature points.
[0039] Step S400: The coordinates of the local feature points are transformed by the latitude and longitude of the origin of the local coordinate system of the parking lot to obtain the corresponding coordinates of the feature points in the global coordinate system. The corresponding coordinates of the feature points in the global coordinate system are the global feature point coordinates.
[0040] Step S500: Acquire vehicle coordinates in the local coordinate system of the parking lot from different entrances, match the vehicle coordinates with the global feature point coordinates, and generate or update the parking lot map.
[0041] Specifically, by combining the longitude and latitude of the local coordinate system of the parking lot, the coordinates can be changed again to obtain the coordinates of the feature point in the global coordinate system, that is, the global coordinate system coordinates, wherein the global coordinate system coordinates at least include longitude and latitude information. When a vehicle enters through other entrances and its longitude and latitude are close to the longitude and latitude of the feature point, a more accurate position of the vehicle is obtained according to the global feature point coordinates, that is, the global coordinates of the vehicle are calculated, thereby matching the vehicle to the learned route.
[0042] The present invention does not require the vehicle to complete the memory process at one time after entering the basement, and can realize the fusion of multiple memories. It can be applied to more complex parking scenarios. The present invention allows the vehicle to gradually improve the parking lot map during multiple parking processes, and can realize the fusion of multiple memories, thereby improving the continuity and coverage of the map.
[0043] In one embodiment of the present invention, after obtaining the vehicle coordinates in the local coordinate system of the parking lot from different entrances and performing global coordinate calculation and global feature point coordinate matching on the vehicle coordinates, the method includes: if the vehicle coordinates are connected with the ramp data, updating the parking lot map.
[0044] Specifically, the timing of mapping is when the vehicle passes the critical point of the parking lot entrance. If the parking lot entrance and the ramp data can be connected, the parking lot map is updated. Otherwise, when the distance to the parking lot entrance is greater than a preset distance, such as 200m, the newly added mapping data or content is cleared.
[0045] In addition, when vehicles enter the same parking lot from different entrances, since the parking lot feature point elements are all established based on the global coordinate system, feature fusion can be achieved when entering the parking lot from different entrances based on the vehicle's global coordinate calculation and feature point matching.
[0046] The present invention establishes a parking lot map and reflects the parking lot feature point elements in the form of a local coordinate system of the parking lot, thereby realizing the fusion of parking lot maps established when entering the same parking lot from different parking lot entrances; since the positioning strength is weak and the positioning is inaccurate after entering the underground parking lot, the initialization positioning is more accurate than that after entering the parking lot.
[0047] Specifically, Figure 5 As shown, in step S110, obtaining the critical point of the vehicle entering the parking lot entrance includes: Step S111: obtaining the vehicle GPS signal noise ratio; Step S112: when the vehicle GPS signal noise ratio is lower than a preset threshold and the vehicle meets a first preset slope state, it is determined that the vehicle is in a parking lot; Step S113: Acquire the positioning data of a preset length cached by the vehicle, and based on the point where the vehicle is located in the parking lot and the driving trajectory memorized before this point, use the last point that meets the second preset slope state as the critical point when the vehicle enters the parking lot entrance.
[0048] Specifically, the first preset slope state indicates that the vehicle is at a certain height and continuously on a slope at a certain angle; the second preset slope state indicates that the vehicle is on a route with a slope less than a certain angle for a certain distance.
[0049] Exemplarily, the first preset state is that the vehicle is more than 8m and is continuously located on a slope with a slope greater than 5°. Therefore, if the vehicle's GPS signal noise ratio is less than a preset threshold, and the vehicle is more than 8m and is continuously located on a slope with a slope greater than 5°, it is determined that the vehicle is already in the parking lot.
[0050] Exemplarily, the second preset slope state indicates that the vehicle is on a route with a slope of less than 3° for a continuous distance of 0.5 m, and the last point that satisfies the second preset slope state is the point at the entrance of the parking lot but has not yet entered the underground parking lot, which serves as the critical point when the vehicle enters the entrance of the parking lot.
[0051] Among them, as shown in step S112, when the map is built for the first time, the coordinate point and time of entering the parking lot are first determined, and the parking lot feature points are recorded from this moment, that is, in fact, the map at this time still starts from the position where the parking lot has been entered, and it is not the map starting from the parking lot entrance as we want; continue to refer to step S113, by caching the positioning information of the vehicle when building the map, and inferring the position where the vehicle enters the parking lot entrance, when it passes the recorded parking lot entrance position for the second time, it will automatically start recording the parking lot feature points, in order to obtain the extension from the parking lot entrance to the starting point when building the map (that is, the point that is already in the basement); because we are worried that the user's destination after passing the parking lot entrance position is not the parking lot recorded in our map building, and we are worried that useless feature points are being recorded, the present invention sets a bottom-up strategy. If the continuous recording is not connected to the starting point when building the map after 200m, the recording is stopped and the cache is released.
[0052] In this way, the present invention not only improves the parking lot map, but also can remove useless feature points in time, thereby improving the efficiency and accuracy of map generation.
[0053] The present invention can reflect the feature point elements in the form of a global coordinate system by establishing a local coordinate system of the parking lot; the present invention can realize the fusion between the parking lot maps established when entering the same parking lot from different parking lot entrances; the present invention can improve the problem of weak positioning strength and inaccurate positioning in the prior art due to entering the underground parking lot. Therefore, this method is more accurate than the initialization positioning after entering the parking lot.
[0054] like Figure 6 As shown, the second aspect of the present invention provides a parking lot map construction device, comprising: The vehicle positioning and dead reckoning unit 20 is at least used for real-time calculation of vehicle coordinates; A local coordinate system building unit 21, at least used to build a local coordinate system of the parking lot; A conversion matrix construction unit 22, at least used to obtain a conversion matrix for converting a vehicle coordinate system to a parking lot local coordinate system according to the positions of the vehicle coordinates and the parking lot local coordinate system; The local feature point coordinate acquisition unit 23 is at least used to acquire the feature point coordinates in the vehicle coordinate system, and acquire the feature point coordinates in the local coordinate system of the parking lot based on the conversion matrix, that is, the local feature point coordinates; The global feature point coordinate acquisition unit 24 is at least used to transform the local feature point coordinates through the latitude and longitude of the origin of the local coordinate system of the parking lot to obtain the corresponding coordinates of the feature point in the global coordinate system, that is, the global feature point coordinates; The parking lot map building unit 25 is at least used to obtain vehicle coordinates in the local coordinate system of the parking lot from different entrances, perform global coordinate calculation on the vehicle coordinates, and match the vehicle coordinates with global feature point coordinates to generate or update the parking lot map.
[0055] The present invention establishes a parking lot map and reflects the parking lot feature point elements in the form of a local coordinate system of the parking lot, thereby realizing the fusion of parking lot maps established when entering the same parking lot from different parking lot entrances; since the positioning strength is weak and the positioning is inaccurate after entering the underground parking lot, the initialization positioning is more accurate than that after entering the parking lot.
[0056] In one embodiment of the present invention, the local coordinate system construction unit 21 is at least further used to obtain a critical point for a vehicle to enter the parking lot entrance; The local coordinate system of the parking lot is established with the critical point as the origin and the northeast direction as the coordinate axis.
[0057] In the present invention, the local coordinate system construction unit 21 is at least used to obtain the critical point of the vehicle entering the parking lot entrance. According to the actual mapping logic, when the map is constructed for the first time, the present invention obtains the GPS signal noise ratio of the vehicle, and determines whether the vehicle is already in the parking lot by judging the GPS signal noise ratio of the vehicle and the vehicle's slope state. That is, when the map is constructed for the first time, it is necessary to first determine the coordinate point and time of entering the parking lot, and start recording the parking lot feature points from this moment. That is, in essence, the map at this time still starts from the position of entering the parking lot, and it is not a map that can cover the parking lot entrance.
[0058] Therefore, it is necessary to further obtain the positioning data of a preset length cached by the vehicle, and based on the point where the vehicle is located in the parking lot and the driving trajectory memorized before the point, the last point that satisfies the second preset slope state is used as the critical point when the vehicle enters the parking lot entrance. The purpose is that, through this method, the positioning information of the vehicle can be cached when the map is built, and the position of the vehicle entering the parking lot entrance can be calculated. After that, when the vehicle passes the recorded parking lot entrance position for the second time, the parking lot feature points will be automatically recorded, that is, the purpose is to obtain the starting point extending from the parking lot entrance to the map when the map is built (that is, the point that is already in the basement); in addition, because of the concern that the user's destination after passing the parking lot entrance position is not the parking lot recorded in our map building, the possibility of recording useless feature points may be recorded, so the present invention sets a bottom-up strategy to continuously record, such as 200m. If the last point that does not meet the second preset slope state is not used as a point at the parking lot entrance before entering the underground parking lot, it means that the point at this time is a useless feature point, and the recording will be stopped to release the cache.
[0059] In this way, the present invention not only improves the parking lot map, but also can remove useless feature points in time, thereby improving the efficiency and accuracy of map generation.
[0060] The present invention provides a system or method for establishing a parking map using a global coordinate system as a basis, which can be used for parking navigation for cars with a memory parking function. The method used by the present invention does not rely on the accuracy of the vehicle satellite positioning and the accuracy of SLAM positioning when the vehicle is not in the underground parking lot. Therefore, the parking map construction scheme provided by the present invention is not limited to underground parking lots, and it can also be used as a verification method or alternative method for a memory parking method in outdoor parking lots, which has a wide range of application prospects.
[0061] A third aspect of the present invention provides a vehicle capable of executing the steps of the parking lot map construction method as described in any one of the above embodiments.
[0062] like Figure 5 As shown, the fourth aspect of the present invention provides an electronic device, including: At least one processor; and at least one memory in communication with the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the steps of the parking map construction method as described in any one of the above embodiments.
[0063] A fifth aspect of the present invention discloses a readable storage medium storing a computer program, which is used by a processor to execute the steps of the parking lot map construction method as described in any one of the above embodiments.
[0064] Computer-readable storage media may include: any entity or device capable of carrying a computer program, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. A computer program includes a computer program code. The computer program code may be in source code form, object code form, an executable file, or some intermediate form, etc. A computer-readable storage medium may include: any entity or device capable of carrying a computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.
[0065] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.
[0066] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.
[0067] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A parking lot map construction method, characterized in that: include: Establish the local coordinate system of the parking lot; The vehicle coordinates are calculated in real time, and a conversion matrix for converting the vehicle coordinate system to the parking lot local coordinate system is obtained according to the positions of the vehicle coordinates and the parking lot local coordinate system; Acquire the coordinates of the feature points in the vehicle coordinate system, and acquire the coordinates of the feature points in the local coordinate system of the parking lot based on the transformation matrix, that is, the local feature point coordinates; Through the latitude and longitude of the origin of the local coordinate system of the parking lot, the coordinates of the local feature points are transformed to obtain the corresponding coordinates of the feature points in the global coordinate system, that is, the global feature point coordinates; The vehicle coordinates in the local coordinate system of the parking lot from different entrances are obtained, the vehicle coordinates are matched with the global feature point coordinates, and a parking lot map is generated or updated.
2. The parking lot map construction method according to claim 1, characterized in that: The step of establishing a local coordinate system of the parking lot includes: Get the critical point of the vehicle entering the parking lot entrance; A local coordinate system of the parking lot is established with the critical point as the origin and the northeast direction as the coordinate axis.
3. The parking lot map construction method according to claim 2, characterized in that: The step of obtaining the critical point of the vehicle entering the parking lot entrance includes: Get the vehicle GPS signal noise ratio; When the vehicle GPS signal noise ratio is lower than a preset threshold and the vehicle meets a first preset slope state, it is determined that the vehicle is in a parking lot; The positioning data of a preset length cached by the vehicle is obtained, and based on the point where the vehicle is located in the parking lot and the driving trajectory memorized before this point, the last point that meets the second preset slope state is used as the critical point when the vehicle enters the parking lot entrance.
4. The parking lot map construction method according to claim 1, characterized in that: The feature points include at least pillars, walls, parking spaces and road markings in the parking lot.
5. The parking lot map construction method according to claim 1, characterized in that: The real-time calculation of vehicle coordinates includes: The vehicle coordinates are calculated in real time based on the vehicle's wheel speed data and IMU data.
6. The parking lot map construction method according to claim 1, characterized in that: After obtaining the vehicle coordinates in the local coordinate system of the parking lot from different entrances and matching the vehicle coordinates with the global feature point coordinates, the method includes: If the vehicle coordinates are connected with the ramp data, the parking lot map is updated.
7. A parking lot map construction device, characterized in that: include: A vehicle positioning dead reckoning unit, at least for calculating vehicle coordinates in real time; A local coordinate system building unit, used to build at least a local coordinate system of the parking lot; A conversion matrix construction unit, at least used to obtain a conversion matrix for converting a vehicle coordinate system to a parking lot local coordinate system according to the positions of the vehicle coordinates and the parking lot local coordinate system; A local feature point coordinate acquisition unit, at least used to acquire the feature point coordinates in the vehicle coordinate system, and acquire the feature point coordinates in the parking lot local coordinate system based on the conversion matrix, that is, the local feature point coordinates; The global feature point coordinate acquisition unit is at least used to transform the local feature point coordinates through the latitude and longitude of the origin of the local coordinate system of the parking lot to obtain the corresponding coordinates of the feature point in the global coordinate system, that is, the global feature point coordinates; The parking lot map construction unit is at least used to obtain the vehicle coordinates in the local coordinate system of the parking lot from different entrances, match the vehicle coordinates with the global feature point coordinates, and generate or update the parking lot map.
8. The parking lot map construction device according to claim 7, characterized in that: The local coordinate system construction unit is at least further used to obtain a critical point for a vehicle to enter the parking lot entrance; A local coordinate system of the parking lot is established with the critical point as the origin and the northeast direction as the coordinate axis.
9. A vehicle, characterized in that: The vehicle can execute the steps of the parking lot map construction method as described in any one of claims 1 to 6.
10. An electronic device, characterized in that: include: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the steps of the parking lot map construction method according to any one of claims 1-6.
11. A readable storage medium storing a computer program, characterized in that: The computer program is used by a processor to execute the steps of the parking lot map construction method as described in any one of claims 1 to 6.