Multi-layer parking map construction method and device, equipment and storage medium

Abstract

The invention discloses a construction method, device and equipment of a multi-layer parking map and a storage medium, and relates to the technical field of automatic driving automobile positioning mapping, and the construction method of the multi-layer parking map comprises the following steps: obtaining inertial measurement unit data; detecting environment information, and determining perception semantic data according to the environment information; according to the inertial measurement unit data and the perception semantic data, judging whether a vehicle is subjected to cross-layer or not to obtain a hierarchical structure of a parking map; and constructing a multi-layer parking map according to the hierarchical structure. According to the invention, the accuracy of constructing the multi-layer parking map can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of positioning and mapping of autonomous vehicles, and in particular to a method, device, equipment and storage medium for constructing a multi-layer parking map. Background Art

[0002] In the process of building a parking map, due to the obstruction of satellite signals in some parking scenarios, absolute elevation information cannot be obtained in indoor scenes, and it is difficult to obtain more accurate location information. The map built using the perceived information in the mapping process does not have elevation information. Elevation is very important in the mapping process of underground garages or multi-story indoor garages. Once an error is made in the judgment, it will cause safety hazards to subsequent users. Therefore, how to improve the accuracy of building a multi-story parking map is a problem that still needs to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, equipment and storage medium for constructing a multi-layer parking map, aiming to solve the technical problem of how to improve the accuracy of constructing a multi-layer parking map.

[0005] To achieve the above-mentioned purpose, the present application proposes a method for constructing a multi-layer parking map, the method comprising: acquiring inertial measurement unit data; detecting environmental information, and determining perception semantic data based on the environmental information; judging whether a vehicle crosses layers based on the inertial measurement unit data and the perception semantic data, and obtaining a hierarchical structure of a parking map; and constructing a multi-layer parking map based on the hierarchical structure.

[0006] In one embodiment, the step of determining whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data to obtain the hierarchical structure of the parking map includes: Determine whether there is a slope point according to the inertial measurement unit data, and obtain a slope point determination result, wherein the slope point includes an uphill point, a downhill point, and an outhill point; It is determined whether the vehicle crosses layers according to the perception semantic data and the slope point judgment result, so as to obtain a hierarchical structure of the parking map.

[0007] In one embodiment, the step of determining whether there is a slope point according to the inertial measurement unit data and obtaining a slope point determination result comprises: Obtaining the angular velocity and acceleration of the vehicle in the vertical direction according to the inertial measurement unit data; The change in the angular velocity is compared with a preset angular velocity change threshold, and the acceleration is compared with a preset acceleration threshold to determine whether a slope point exists, thereby obtaining a slope point determination result.

[0008] In one embodiment, the step of determining whether the vehicle crosses layers according to the perception semantic data and the slope point determination result to obtain the hierarchical structure of the parking map includes: Acquire semantic elements according to the perceived semantic data; When the semantic elements are intersections, curves, and parking spaces, and the slope point judgment result is that there is an uphill point or a downhill point, the vehicle crosses the layers to obtain a hierarchical structure of the parking map.

[0009] In one embodiment, the method of determining whether there is a slope point according to the inertial measurement unit data and obtaining the slope point determination result further includes: When the slope point judgment result is that there is an uphill point and an outhill point, it is determined that the vehicle is traveling from the lower floor to the higher floor; When the slope point judgment result is that there is a downhill point and an outhill point, it is determined that the vehicle travels from a high level to a low level.

[0010] In one embodiment, the method of determining whether there is a slope point according to the inertial measurement unit data and obtaining the slope point determination result further includes: Acquire real-time dynamic measurement data, and determine the number of satellites to be searched according to the real-time dynamic measurement data; It is determined whether the vehicle crosses layers according to the number of searched stars and the slope point determination result, so as to obtain a hierarchical structure of the parking map.

[0011] In one embodiment, the step of judging whether the vehicle is crossing floors according to the number of satellite searches and the slope point judgment result includes: According to the number of satellite searches, a change value of the number of satellite searches when the vehicle is traveling is obtained; When the change in the number of search satellites is greater than a preset value, and the slope point judgment result includes an uphill point, a downhill point, and an out-of-slope point, the vehicle crosses the floor.

[0012] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for constructing a multi-layer parking map, wherein the device for constructing a multi-layer parking map comprises: An acquisition module, used to acquire inertial measurement unit data and perception semantic data; A detection module, used to detect environmental information and determine the perception semantic data according to the environmental information; A judgment module, used for judging whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data, and obtaining a hierarchical structure of a parking map; A construction module is used to construct a multi-layer parking map according to the hierarchical structure.

[0013] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for constructing a multi-layer parking map, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the method for constructing a multi-layer parking map as described above.

[0014] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for constructing a multi-layer parking map as described above are implemented.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for constructing a multi-layer parking map as described above are implemented.

[0016] The present application provides a method for constructing a multi-layer parking map. The present application obtains inertial measurement unit data; detects environmental information, and determines perception semantic data based on the environmental information; determines whether a vehicle crosses layers based on the inertial measurement unit data and the perception semantic data, and obtains a hierarchical structure of a parking map; and constructs a multi-layer parking map based on the hierarchical structure.

[0017] In summary, the present application obtains inertial measurement unit data and perception semantic data to comprehensively determine whether the car crosses the layer, and can accurately obtain the hierarchical information of the parking map, thereby improving the accuracy of constructing a multi-layer parking map. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 A flowchart diagram of a method for constructing a multi-layer parking map according to a first embodiment of the present application; Figure 2 A schematic diagram of a simplified process of a method for constructing a multi-layer parking map provided in the first embodiment of the present application; Figure 3 A flowchart diagram of a second embodiment of a method for constructing a multi-layer parking map of the present application; Figure 4 A schematic diagram of a slope point determination process of a method for constructing a multi-layer parking map provided in Embodiment 2 of the present application; Figure 5 A schematic diagram of slope point detection in the method for constructing a multi-layer parking map provided in the second embodiment of the present application; Figure 6 A schematic diagram of a parking boundary zone in the method for constructing a multi-layer parking map provided in the second embodiment of the present application; Figure 7 A schematic diagram of the perception semantic data determination process of the method for constructing a multi-layer parking map provided in the second embodiment of the present application; Figure 8 A schematic diagram of a parking scenario for the method for constructing a multi-layer parking map provided in the second embodiment of the present application; Fig. 9 A schematic diagram of the module structure of a device for constructing a multi-layer parking map according to an embodiment of the present application; Fig.10 Schematic diagram of the device structure of the hardware operating environment involved in the method for constructing a multi-layer parking map in an embodiment of the present application.

[0021] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0023] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0024] The main solution of the present application is to obtain inertial measurement unit data; detect environmental information and determine perception semantic data based on the environmental information; determine whether the vehicle crosses layers based on the inertial measurement unit data and the perception semantic data to obtain a hierarchical structure of a parking map; and construct a multi-layer parking map based on the hierarchical structure.

[0025] In the process of building a parking map, due to the obstruction of satellite signals in some parking scenarios, absolute elevation information cannot be obtained in indoor scenes, and it is difficult to obtain more accurate location information. The map built using the perceived information in the mapping process does not have elevation information. Elevation is very important in the mapping process of underground garages or multi-story indoor garages. Once an error is made in the judgment, it will cause safety hazards to subsequent users. Therefore, how to improve the accuracy of building a multi-story parking map is a problem that still needs to be solved.

[0026] This application obtains inertial measurement unit data and perception semantic data to comprehensively determine whether the car crosses the layer, and can accurately obtain the hierarchical information of the parking map, thereby improving the accuracy of constructing a multi-layer parking map.

[0027] Based on this, the present application embodiment provides a method for constructing a multi-layer parking map. Figure 1 , Figure 1 This is a flow chart of a first embodiment of a method for constructing a multi-layer parking map of the present application.

[0028] In this embodiment, the method for constructing the multi-layer parking map includes steps S10 to S40: Step S10: Acquire inertial measurement unit data; It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a multi-layer parking map construction device, etc. The following takes the multi-layer parking map construction device as an example to illustrate this embodiment and the following embodiments.

[0029] It should be noted that an Inertial Measurement Unit (IMU) is a device used to measure and report the acceleration and rotation rate of an object in a specific reference frame. An IMU usually consists of three accelerometers and three gyroscopes, which are used to measure the linear acceleration and angular velocity of an object in three axes (usually X, Y, and Z axes). For cars, the Z axis refers to the vertical direction.

[0030] Step S20: detecting environmental information, and determining perceptual semantic data according to the environmental information; It is understandable that by detecting environmental information, perceptual semantic data can be extracted, such as parking spaces, pillars, gates, lane lines, intersections, etc. The perceptual semantic data is used to assist in determining the hierarchical structure of the parking map.

[0031] Step S30: determining whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data, and obtaining a hierarchical structure of a parking map; It is understandable that the total number of layers of the parking map can be determined based on the inertial measurement unit data and the perception semantic data, and the hierarchical structure of the parking map can be obtained. For example, it is determined whether the parking space or column is within 3m. If so, no semantic determination is performed; if a gate is detected, it is considered that the car is entering the underground from the ground; if there is an intersection, it is combined with the inertial measurement unit data to determine whether the vehicle is crossing layers. Figure 2As shown, the condition is judged through IMU data and semantic element data. If it passes, it means that the vehicle enters the next layer.

[0032] Step S40: constructing a multi-layer parking map according to the hierarchical structure.

[0033] It is understandable that after the hierarchical structure of the parking map is acquired, a multi-layer parking map can be constructed according to the hierarchical structure.

[0034] This embodiment obtains inertial measurement unit data; detects environmental information, and determines perception semantic data based on the environmental information; determines whether the vehicle crosses layers based on the inertial measurement unit data and the perception semantic data to obtain a hierarchical structure of a parking map; and constructs a multi-layer parking map based on the hierarchical structure.

[0035] In summary, this embodiment obtains inertial measurement unit data and perception semantic data to comprehensively determine whether the car crosses layers, and can accurately obtain the hierarchical information of the parking map, thereby improving the accuracy of constructing a multi-layer parking map.

[0036] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S30 also includes steps S301~S302: Step S301: judging whether there is a slope point according to the inertial measurement unit data, and obtaining a slope point judgment result, wherein the slope point includes an uphill point, a downhill point and an outhill point; It is understandable that the change in angular velocity during the driving of the vehicle can be obtained based on the inertial measurement unit data, thereby determining whether there is a slope point.

[0037] In a feasible manner, the step of determining whether there is a slope point according to the inertial measurement unit data and obtaining a slope point determination result includes: Obtaining the angular velocity and acceleration of the vehicle in the vertical direction according to the inertial measurement unit data; The change in the angular velocity is compared with a preset angular velocity change threshold, and the acceleration is compared with a preset acceleration threshold to determine whether a slope point exists, thereby obtaining a slope point determination result.

[0038] It is understandable that when a car crosses layers, there are two situations: from the lower layer to the higher layer and from the higher layer to the lower layer, such as Figure 4 As shown, Figure 4This is a schematic diagram of the slope point judgment process. When the car is going downhill, it can detect the uphill point and the exit point. At this time, it can be judged that the car is on the next floor by minus 1; when the car is going uphill, it can detect the uphill point and the exit point. It can be judged that the car is on the next floor by adding 1. The specific calculation method can be referred to. Figure 5 , Figure 5 This is a schematic diagram of slope point detection. The IMU data is in the form of (ax, ay, az, gx, gy, gz). The IMU values ​​from the previous time t to the current time t+1 are recorded and accumulated. Delta= If deta>5, it is considered an uphill point. If deta<-5 degrees, it is a downhill point. At the same time, the gravity acceleration component of az is less than 9.8 during the duration of the slope. The last exit point is calculated in the same way. The delta is consistent with the previous entry point, and after exiting the slope, the gravity acceleration of az returns to 9.8.

[0039] In a feasible manner, the determining whether there is a slope point according to the inertial measurement unit data and obtaining the slope point determination result further includes: Acquire real-time dynamic measurement data, and determine the number of satellites to be searched according to the real-time dynamic measurement data; It is determined whether the vehicle crosses layers according to the number of searched stars and the slope point determination result, so as to obtain a hierarchical structure of the parking map.

[0040] It is understandable that when the vehicle is on the ground, the real-time kinematic (RTK) data can be used to determine whether the vehicle has crossed layers. Specifically, the RTK satellite search number can be used for judgment. For example, if the satellite search number on the ground is greater than 10, and the underground signal disappears, the satellite search number is 0. The change in the satellite search number can determine whether the vehicle has crossed layers. Among them, the RTK satellite search number refers to the number of satellites that the RTK device can search and receive. The RTK satellite search number can help determine the environment in which the vehicle is located.

[0041] Step S302: judging whether the vehicle crosses layers according to the perception semantic data and the slope point judgment result, and obtaining a hierarchical structure of a parking map.

[0042] It is understandable that judging whether the vehicle crosses layers based on the perception semantic data and the slope point judgment result can enhance the reliability of the result.

[0043] In a feasible manner, the step of determining whether the vehicle crosses layers according to the perception semantic data and the slope point determination result to obtain the hierarchical structure of the parking map includes: Acquire semantic elements according to the perceived semantic data; When the semantic elements are intersections, curves, and parking spaces, and the slope point judgment result is that there is an uphill point or a downhill point, the vehicle crosses the layers to obtain a hierarchical structure of the parking map.

[0044] Understandably, there are usually intersections at the junction, and parking spaces are far away and scarce, there are no parking spaces in the passage, and most of them have curves. Figure 6 , Figure 6 This is a schematic diagram of the parking handover area. From the upper or lower level, you can reach the lower or upper level via a ramp. There are parking spaces on both sides of the road. Therefore, the specific judgment process can be referred to Figure 7 , Figure 7 This is a schematic diagram of the perception semantic data judgment process. When an intersection or curve is detected, the detection of uphill and downhill points can continue. If the uphill and downhill points can be detected and the parking space is detected, it can be determined that the vehicle is crossing the layer. If any step fails to detect the target, it will end directly without further detection. When the parking space is obviously very close, the semantic element judgment is stopped to prevent misjudgment.

[0045] It is understandable that the entire judgment process can refer to Figure 8 , Figure 8 This is a schematic diagram of the parking scene. When the vehicle enters the -1 floor from the ground, IMU data is used to determine the vehicle's cross-layer. At this time, because there is an RTK signal on the ground, there is no RTK signal after entering the underground. The RTK signal vanishing point can be used to assist in determining that the vehicle has entered the underground floor. At the same time, if there is gate semantic information, it can be fully confirmed that it has entered the -1 floor; when the vehicle enters the -2 floor from the -1 floor, the perception semantic data can be used for judgment. When entering the ramp, the distance between the parking spaces and the columns on the -1 floor is far, and the intersection information can be identified. Combined with the IMU data, it is determined that the vehicle has entered the -2 floor. During the vehicle's driving process, when the distance between the parking spaces on the -1 floor, -2 floor, and -3 floor is close, these judgments are filtered because there are no parking spaces in the ramp; when the vehicle enters the -3 floor from the -2 floor, the perception semantic data can be used for judgment. When entering the ramp, the distance between the parking spaces and the columns on the -2 floor is far, and the intersection information can be identified. Combined with the IMU data, it is determined that the vehicle has entered the -3 floor.

[0046] This embodiment determines whether there is a slope point according to the inertial measurement unit data to obtain a slope point determination result, where the slope point includes an uphill point, a downhill point, and an out-of-slope point; determines whether the vehicle crosses layers according to the perception semantic data and the slope point determination result to obtain a hierarchical structure of a parking map.

[0047] In summary, this embodiment combines the slope point judgment result from the inertial measurement unit data with the perception semantic data to jointly judge whether the vehicle crosses the layer, thereby accurately obtaining the hierarchical information of the parking map and improving the accuracy of constructing the multi-layer parking map.

[0048] This application also provides a device for constructing a multi-layer parking map. Fig. 9 , the multi-layer parking map construction device includes: An acquisition module 10, used to acquire inertial measurement unit data and perception semantic data; A detection module 20, configured to detect environmental information and determine the perception semantic data according to the environmental information; A judgment module 30, configured to judge whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data, and obtain a hierarchical structure of a parking map; The construction module 40 is used to construct a multi-layer parking map according to the hierarchical structure.

[0049] This embodiment obtains inertial measurement unit data; detects environmental information, and determines perception semantic data based on the environmental information; determines whether the vehicle crosses layers based on the inertial measurement unit data and the perception semantic data to obtain a hierarchical structure of a parking map; and constructs a multi-layer parking map based on the hierarchical structure.

[0050] In summary, this embodiment obtains inertial measurement unit data and perception semantic data to comprehensively determine whether the car crosses layers, and can accurately obtain the hierarchical information of the parking map, thereby improving the accuracy of constructing a multi-layer parking map.

[0051] In one embodiment, the judgment module 30 is further used to judge whether there is a slope point according to the inertial measurement unit data, and obtain a slope point judgment result, wherein the slope point includes an uphill point, a downhill point and an out-of-slope point; and judge whether the vehicle crosses layers according to the perception semantic data and the slope point judgment result, and obtain a hierarchical structure of the parking map.

[0052] In one embodiment, the judgment module 30 is also used to obtain the angular velocity and acceleration of the vehicle in the vertical direction according to the inertial measurement unit data; compare the change in the angular velocity with a preset angular velocity change threshold, and compare the acceleration with a preset acceleration threshold to determine whether there is a slope point and obtain a slope point judgment result.

[0053] In one embodiment, the judgment module 30 is also used to obtain semantic elements based on the perceived semantic data; when the semantic elements are intersections, curves and parking spaces, and the slope point judgment result is that there is an uphill point or a downhill point, the vehicle crosses the layer to obtain a hierarchical structure of the parking map.

[0054] In one embodiment, the judgment module 30 is further used to determine that the vehicle is traveling from a lower floor to a higher floor when the slope point judgment result is that there is an uphill point and an out-of-slope point; when the slope point judgment result is that there is a downhill point and an out-of-slope point, it is determined that the vehicle is traveling from a higher floor to a lower floor.

[0055] In one embodiment, the judgment module 30 is further used to obtain real-time dynamic measurement data, and determine the number of search stars according to the real-time dynamic measurement data; determine whether the vehicle crosses the layer according to the number of search stars and the slope point judgment result, and obtain the hierarchical structure of the parking map.

[0056] In one embodiment, the judgment module 30 is also used to obtain a change value of the number of star searches when the vehicle is traveling based on the number of star searches; when the change in the number of star searches is greater than a preset value, and the slope point judgment result includes an uphill point, a downhill point, and an out-of-slope point, the vehicle has crossed layers.

[0057] The multi-layer parking map construction device provided by the present application adopts the multi-layer parking map construction method in the above embodiment, which can solve the technical problem of how to improve the accuracy of constructing a multi-layer parking map. Compared with the prior art, the beneficial effects of the multi-layer parking map construction device provided by the present application are the same as the beneficial effects of the multi-layer parking map construction method provided by the above embodiment, and other technical features in the multi-layer parking map construction device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0058] The present application provides a device for constructing a multi-layer parking map, and the device for constructing a multi-layer parking map includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for constructing a multi-layer parking map in the first embodiment.

[0059] Reference below Fig.10 , which shows a schematic diagram of a structure of a device for constructing a multi-layer parking map suitable for implementing an embodiment of the present application. The device for constructing a multi-layer parking map in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.10 The multi-layer parking map construction device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0060] like Fig.10As shown, the apparatus for constructing a multi-layer parking map may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. Various programs and data required for the operation of the apparatus for constructing a multi-layer parking map are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the multi-layer parking map construction device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a multi-layer parking map construction device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0061] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0062] The multi-layer parking map construction device provided by the present application adopts the multi-layer parking map construction method in the above embodiment, which can solve the technical problem of how to improve the accuracy of constructing a multi-layer parking map. Compared with the prior art, the beneficial effects of the multi-layer parking map construction device provided by the present application are the same as the beneficial effects of the multi-layer parking map construction method provided by the above embodiment, and other technical features in the multi-layer parking map construction device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0063] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0064] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0065] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the method for constructing a multi-layer parking map in the above-mentioned embodiment.

[0066] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0067] The computer-readable storage medium may be included in the device for constructing a multi-layer parking map; or may exist independently without being assembled into the device for constructing a multi-layer parking map.

[0068] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the multi-layer parking map construction device, the multi-layer parking map construction device: obtains inertial measurement unit data; detects environmental information, and determines perception semantic data according to the environmental information; determines whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data, and obtains a hierarchical structure of the parking map; and constructs the multi-layer parking map according to the hierarchical structure.

[0069] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may 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 may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0070] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0071] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0072] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for constructing a multi-layer parking map, and can solve the technical problem of how to improve the accuracy of constructing a multi-layer parking map. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the method for constructing a multi-layer parking map provided in the above-mentioned embodiment, and will not be elaborated here.

[0073] The present application also provides a computer program product, including a computer program, which implements the steps of the method for constructing a multi-layer parking map as described above when executed by a processor.

[0074] The computer program product provided in this application can solve the technical problem of how to improve the accuracy of constructing a multi-layer parking map. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the method for constructing a multi-layer parking map provided in the above embodiment, which will not be described in detail here.

[0075] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for constructing a multi-layer parking map, characterized in that: The method includes: Get inertial measurement unit data; detecting environmental information, and determining perceptual semantic data based on the environmental information; Determining whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data, and obtaining a hierarchical structure of a parking map; A multi-layer parking map is constructed according to the hierarchical structure.

2. The method according to claim 1, characterized in that The step of determining whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data to obtain the hierarchical structure of the parking map includes: Determine whether there is a slope point according to the inertial measurement unit data, and obtain a slope point determination result, wherein the slope point includes an uphill point, a downhill point, and an outhill point; It is determined whether the vehicle crosses layers according to the perception semantic data and the slope point judgment result, so as to obtain a hierarchical structure of the parking map.

3. The method according to claim 2, characterized in that The step of determining whether there is a slope point according to the inertial measurement unit data and obtaining a slope point determination result comprises: Obtaining the angular velocity and acceleration of the vehicle in the vertical direction according to the inertial measurement unit data; The change in the angular velocity is compared with a preset angular velocity change threshold, and the acceleration is compared with a preset acceleration threshold to determine whether a slope point exists, thereby obtaining a slope point determination result.

4. The method according to claim 2, characterized in that The step of determining whether the vehicle crosses layers according to the perception semantic data and the slope point determination result to obtain the hierarchical structure of the parking map comprises: Acquire semantic elements according to the perceived semantic data; When the semantic elements are intersections, curves, and parking spaces, and the slope point judgment result is that there is an uphill point or a downhill point, the vehicle crosses the layers to obtain a hierarchical structure of the parking map.

5. The method according to claim 2, characterized in that After determining whether there is a slope point according to the inertial measurement unit data and obtaining the slope point determination result, the method further includes: When the slope point judgment result is that there is an uphill point and an outhill point, it is determined that the vehicle is traveling from the lower floor to the higher floor; When the slope point judgment result is that there is a downhill point and an outhill point, it is determined that the vehicle travels from a high level to a low level.

6. The method according to claim 2, characterized in that After determining whether there is a slope point according to the inertial measurement unit data and obtaining the slope point determination result, the method further includes: Acquire real-time dynamic measurement data, and determine the number of satellites to be searched according to the real-time dynamic measurement data; It is determined whether the vehicle crosses layers according to the number of searched stars and the slope point determination result, so as to obtain a hierarchical structure of the parking map.

7. The method according to claim 6, characterized in that The step of judging whether the vehicle is crossing the floor according to the number of satellite searches and the slope point judgment result comprises: According to the number of satellite searches, a change value of the number of satellite searches when the vehicle is traveling is obtained; When the change in the number of search satellites is greater than a preset value, and the slope point judgment result includes an uphill point, a downhill point, and an out-of-slope point, the vehicle crosses the floor.

8. A device for constructing a multi-layer parking map, characterized in that: The device comprises: An acquisition module, used to acquire inertial measurement unit data and perception semantic data; A detection module, used to detect environmental information and determine the perception semantic data according to the environmental information; A judgment module, used for judging whether the vehicle crosses layers according to the inertial measurement unit data and the perception semantic data, and obtaining a hierarchical structure of a parking map; A construction module is used to construct a multi-layer parking map according to the hierarchical structure.

9. A device for constructing a multi-layer parking map, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for constructing a multi-layer parking map according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the method for constructing a multi-layer parking map according to any one of claims 1 to 7 is implemented.

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