Layering-based map construction method and device, equipment and medium

Abstract

The invention provides a layering-based map construction method and device, equipment and a medium, and relates to the fields of automatic driving, autonomous parking, intelligent transportation, Internet of Vehicles, intelligent cabins, path planning and the like in artificial intelligence. The method comprises the following steps: according to a plurality of preset height ranges, determining obstacle information corresponding to the height ranges in a road on which a vehicle runs; according to the value of the height range, map elements of the height range are determined, and the map elements comprise at least one of the following information: two-dimensional information and height information; the value of the height range is in positive correlation with the type of information contained in the map elements; generating map information corresponding to the height range according to the map elements of the height range; and generating a map according to the map information corresponding to each height range. Furthermore, according to the value of the height range, the map element corresponding to each height range is determined, so that the map construction efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the fields of autonomous driving, autonomous parking, intelligent transportation, vehicle networking, intelligent cockpit, path planning, etc. in artificial intelligence; in particular, it relates to a layered map construction method, device, equipment and medium. Background Art

[0002] Currently, when planning a path for a vehicle, it is first necessary to construct a map based on the vehicle's surrounding environment so that the path planning can be performed later in combination with the information constructed in the map.

[0003] How to construct map information is an urgent problem to be solved. Summary of the invention

[0004] The present disclosure provides a layered-based map construction method, device, equipment and medium to quickly construct a map.

[0005] According to a first aspect of the present disclosure, a layered map construction method is provided, comprising:

[0006] According to a plurality of preset height ranges, obstacle information corresponding to the height ranges is determined on a road on which the vehicle is traveling; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range;

[0007] According to the value of the altitude range, map elements of the altitude range are determined, wherein the map elements include at least one of the following information: two-dimensional information, altitude information; the value of the altitude range is positively correlated with the type of information contained in the map elements; according to the map elements of the altitude range, map information corresponding to the altitude range is generated.

[0008] According to a second aspect of the present disclosure, a collision detection method is provided, comprising:

[0009] Determine a plurality of preset altitude ranges and map information corresponding to each of the altitude ranges; the map information is obtained according to any one of the methods of the first aspect;

[0010] Performing collision detection on the vehicle according to the map information corresponding to the height range, and determining a collision detection result corresponding to the height range; the collision detection result is used to indicate whether the vehicle will collide within the height range;

[0011] The driving path of the vehicle is determined according to the collision detection results corresponding to each of the height ranges.

[0012] According to a third aspect of the present disclosure, a layered map construction device is provided, comprising:

[0013] A first determining unit is used to determine, based on a plurality of preset height ranges, obstacle information corresponding to the height ranges on a road on which the vehicle is traveling; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range;

[0014] A second determining unit is used to determine a map element of the height range according to a value of the height range, wherein the map element includes at least one of the following information: two-dimensional information and height information; and the value of the height range is positively correlated with the type of information included in the map element;

[0015] A first generating unit, configured to generate map information corresponding to the altitude range according to the map elements in the altitude range;

[0016] The second generating unit is used to generate a map according to the map information corresponding to each of the altitude ranges.

[0017] According to a fourth aspect of the present disclosure, there is provided a collision detection device, comprising: a third determination unit, configured to determine a plurality of preset height ranges;

[0018] A fourth determining unit, configured to determine map information corresponding to each of the altitude ranges; the map information is obtained by the apparatus according to any one of the third aspects;

[0019] A fifth determining unit, configured to perform collision detection on the vehicle according to the map information corresponding to the height range, and determine a collision detection result corresponding to the height range; the collision detection result is used to indicate whether the vehicle will collide within the height range;

[0020] The sixth determining unit is used to determine the driving path of the vehicle according to the collision detection results corresponding to each of the height ranges.

[0021] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising: 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 described in the first aspect; or, 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 described in the second aspect.

[0022] According to a sixth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method described in the first aspect; or, the computer instructions are used to cause the computer to execute the method described in the second aspect.

[0023] According to a seventh aspect of the present disclosure, a computer program product is provided, comprising: a computer program, wherein the computer program is stored in a readable storage medium, and at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the electronic device executes the method described in the first aspect; or, the at least one processor executes the computer program so that the electronic device executes the method described in the first aspect.

[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0026] Figure 1 A flowchart of a layered map construction method provided in an embodiment of the present disclosure;

[0027] Figure 2 A flowchart of another layered map construction method provided in an embodiment of the present disclosure;

[0028] Figure 3 A flowchart of another layered map construction method provided in an embodiment of the present disclosure;

[0029] Figure 4 A side view of a vehicle provided in an embodiment of the present disclosure;

[0030] Figure 5 A schematic diagram of collision detection provided by an embodiment of the present disclosure;

[0031] Figure 6 A schematic diagram of another collision detection provided by an embodiment of the present disclosure;

[0032] Figure 7 A schematic diagram of the structure of a layered map construction device provided in an embodiment of the present disclosure;

[0033] Figure 8 A schematic diagram of the structure of another layered map construction device provided in an embodiment of the present disclosure;

[0034] Fig. 9 A schematic diagram of the structure of a collision detection device provided in an embodiment of the present disclosure;

[0035] Fig.10 A schematic diagram of the structure of another collision detection device provided in an embodiment of the present disclosure;

[0036] Fig.11 A block diagram of an electronic device provided in an embodiment of the present disclosure;

[0037] Fig.12 It is a block diagram of an electronic device used to implement the layered-based map building method of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0039] Currently, before planning a path for a vehicle, it is usually necessary to construct a map based on the vehicle's current environment and perform path planning based on the obtained map.

[0040] In one example, when constructing a map corresponding to the environment in which the vehicle is located, a two-dimensional map can be constructed to record the locations of obstacles around the vehicle. However, in actual applications, some obstacles on the road can be crossed by the vehicle body, while others cannot be crossed by the vehicle body. If the two-dimensional map is directly used to determine all obstacles on the road as insurmountable obstacles, the utilization rate of the road space will not be sufficient during the path planning process, which will reduce the solution space of the path planning and easily lead to the obtained planned path not being the optimal solution.

[0041] In one example, a three-dimensional map can be used to construct a map, that is, the three-dimensional map can be used to construct a map based on the spatial position information corresponding to the obstacles, so that the obtained map can fully restore the environmental information of the vehicle. However, although the above method fully considers the spatial position information of the obstacles, it is also easy to cause the map construction to take a long time.

[0042] In order to avoid at least one of the above technical problems, the inventor of the present disclosure has creatively worked to obtain the inventive concept of the present disclosure: by presetting multiple height ranges, for obstacles within each height range, map elements corresponding to the height range are selected to construct a map. The map elements corresponding to the height range are two-dimensional information of the obstacle, or the map elements are two-dimensional information and height information of the obstacle, so as to selectively determine the map elements corresponding to each height range to determine the map information within the height range. The map information corresponding to each height range is used as a map of the environment where the current vehicle is located.

[0043] The present disclosure provides a layered map construction method, device, equipment and medium, which are applied to the fields of autonomous driving, autonomous parking, intelligent transportation, Internet of Vehicles, intelligent cockpit, path planning, etc. in artificial intelligence, so that map information can be constructed within different height ranges using map elements corresponding to the height ranges, so that the vehicle can subsequently perform path planning in combination with the obtained map.

[0044] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0045] Figure 1 A flowchart of a layered map construction method provided in an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the method comprises the following steps:

[0046] S101. Determine obstacle information corresponding to a height range on a road on which a vehicle is traveling, based on a plurality of preset height ranges; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range.

[0047] Exemplarily, the executor of this embodiment may be a layered map construction device, which may be a server (such as a local server or a cloud server), a computer, a processor, a chip, etc., which is not limited in this embodiment.

[0048] For example, in this embodiment, when constructing a map corresponding to the road where the vehicle is located, obstacle information of obstacles existing in each preset height range is firstly obtained.

[0049] It should be noted that, in this embodiment, multiple height ranges can be pre-set. When constructing a map, obstacles in each height range can be determined based on the environmental information collected on the road, and then the obstacles on the road are layered according to the preset multiple height ranges. In addition, in this embodiment, there is no specific restriction on the number of height ranges, and there is no specific restriction on the division method of the height ranges. In practical applications, for different vehicles, the height ranges can be divided according to the size information corresponding to the vehicle. A unified height range division method can also be used.

[0050] In addition, the obstacle information corresponding to the height range can be understood as the two-dimensional information and height information corresponding to the obstacles within the height range. The two-dimensional information is the projection position corresponding to the projection of the obstacle on the road. The height information can be understood as the height value corresponding to the obstacles within the height range.

[0051] S102. Determine a map element of the height range according to the value of the height range, wherein the map element includes at least one of the following information: two-dimensional information and height information; the value of the height range is positively correlated with the type of information contained in the map element.

[0052] Exemplarily, in this embodiment, for different altitude ranges, map elements for constructing map information for each altitude range may be determined.

[0053] It should be noted that the type of information contained in the map element in this embodiment may be the two-dimensional information in the obstacle information, or the two-dimensional information and height information in the obstacle information, or the height information in the obstacle information. In addition, generally speaking, the higher the height of the obstacle, the less likely the vehicle can safely cross it. In order to ensure the safe driving of the vehicle, the larger the value of the height range, the more types of information contained in the corresponding map element, that is, obtaining more obstacle information facilitates the safe driving of subsequent vehicles.

[0054] In one example, when determining the map element corresponding to the altitude range, it can be determined based on the occupancy of the processing resources corresponding to the vehicle and the value of the altitude range. For example, based on the occupancy, determine the number of altitude ranges that can be combined with two-dimensional information and altitude information to construct map information. Among them, the larger the occupancy, the smaller the number of altitude ranges that use the two-dimensional information and altitude information in the obstacle information as map elements. Furthermore, if the occupancy of the vehicle's processing resources is small, two-dimensional information and altitude information can be used to construct map information for each altitude range. And, as the occupancy of processing resources continues to increase, in order to avoid the problem of large occupancy of processing resources due to map information construction, for altitude ranges with larger values, two-dimensional information and altitude information can be preferentially combined to construct map information, while for altitude ranges with smaller values, two-dimensional information can be combined to construct map information.

[0055] In one example, when determining a map element, it can be determined in combination with the value of the altitude range and the driving proficiency of the driver. The driving proficiency can be determined in combination with one or more methods such as the driver's driving experience, the number of driving violations, and the driver's manual input. Specifically, after determining the driving proficiency, the altitude threshold corresponding to the driving proficiency is determined, and the map element corresponding to the altitude range below the altitude threshold includes two-dimensional information, and the map element corresponding to the altitude range above the altitude threshold includes two-dimensional information and altitude information, wherein the driving proficiency and the altitude threshold are positively correlated.

[0056] In addition, optionally, for each altitude range, two-dimensional information may be selected to construct the map information, or two-dimensional information and altitude information may be selected to construct the map information.

[0057] S103. Generate map information corresponding to the altitude range according to the map elements of the altitude range.

[0058] Exemplarily, after the map elements corresponding to each altitude range are determined, for each altitude range, the map information corresponding to the altitude range may be determined based on the map elements corresponding to the altitude range.

[0059] In one example, when constructing map information, the map information corresponding to the height range can be determined by combining the content included in the map elements and the construction method of the two-dimensional map or three-dimensional map provided in the relevant technology.

[0060] S104: Generate a map according to the map information corresponding to each altitude range.

[0061] Exemplarily, after obtaining the map information corresponding to each altitude range, the map information corresponding to each altitude range may be determined as a map of the path along which the vehicle travels.

[0062] It is understandable that in this embodiment, when constructing a map, the map elements corresponding to each height range can be determined according to the value of the height range, so as to construct the map information corresponding to different height ranges, and then obtain the map corresponding to the vehicle's driving path, which is convenient for subsequent vehicle path planning. In addition, the map elements corresponding to different height ranges can be different, so as to avoid the problem of long time consumption caused by combining two-dimensional information and height information for map construction in each height range when using the three-dimensional map construction method provided in the relevant technology to construct the map.

[0063] Figure 2 A flowchart of another layered map construction method provided in the embodiment of the present disclosure is shown as follows: Figure 2 As shown, the method comprises the following steps:

[0064] S201. Determine obstacle information corresponding to a height range on a road on which a vehicle is traveling, based on a plurality of preset height ranges; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range.

[0065] Illustratively, the specific principle of step S201 can refer to step S101 and will not be repeated here.

[0066] In one example, the number of height ranges is two.

[0067] Exemplarily, in this embodiment, the number of height ranges can be two. For example, when dividing the height range, the height of the obstacle that the vehicle can cross can be first determined as the first preset value. After that, [0, first preset value] is used as a height range, and (first preset value, second preset value) is used as another height range. Among them, the value of the second preset value is greater than the first preset value. The value of the second preset value can be determined according to the total height corresponding to the vehicle. For example, the total height corresponding to the vehicle can be directly used as the second preset value, or a certain amount of redundancy can be added to the total height, and the summation result can be used as the second preset value. In addition, the height of the obstacle that the vehicle can cross can be determined according to the height of the obstacle corresponding to the historical driving process of the vehicle, or it can be directly determined according to the vehicle structure. For example, the height of the front overhang or rear overhang of the vehicle from the ground is directly used as the first preset value.

[0068] It is understandable that in this embodiment, the number of altitude ranges may be two, and thus the number of map information finally obtained is also two. Thus, the number of map information that needs to be solved in the subsequent path planning process can be reduced, which is conducive to improving the speed of path planning.

[0069] S202, determining a height range in which the first value is less than or equal to a first preset value as a first range, and determining that the map elements in the first range include two-dimensional information corresponding to the first range; wherein the first value is a maximum value in the height range; and the first preset value is a height of an obstacle that the vehicle can cross.

[0070] For example, in this embodiment, when determining the map information corresponding to the altitude range, the maximum value in the altitude range (i.e., the first value mentioned above) can be directly compared with the pre-set first preset value. It should be noted that the first preset value in this embodiment can be understood as the height of an obstacle that the vehicle can cross when driving. In this embodiment, there is no specific restriction on the method for obtaining the first preset value. For example, it can be determined by the driver in combination with the vehicle structure and his own driving level.

[0071] Furthermore, if the maximum value in the height range is less than or equal to the first preset value, the vehicle can pass over the obstacles within the height range. In the subsequent construction of the map information corresponding to the height range, there is no need to consider the height information of the obstacles within the height range. The map information can be constructed based on the two-dimensional information in the obstacle information within the height range.

[0072] S203: Determine that there is at least one height range whose value is greater than the first preset value as a second range, and determine that the map element corresponding to the second range includes the two-dimensional information and height information corresponding to the second range.

[0073] Exemplarily, in this embodiment, when there is a value in the height range that is greater than the first preset value, it indicates that there may be obstacles in the height range that the vehicle cannot cross. For this height range, the two-dimensional information and the height information can be combined to construct the map information corresponding to the height range, so that the vehicle's driving path can be subsequently planned based on the height information in the obstacle information.

[0074] It is understandable that in this embodiment, when determining the map element corresponding to the altitude range, it is possible to determine whether there are obstacles within the altitude range that the vehicle cannot cross by comparing the first preset value and the value corresponding to the altitude range. If so, the altitude information and the two-dimensional information are used as map elements for constructing the map information. If there are no obstacles within the altitude range that the vehicle cannot cross, the two-dimensional information is used as the map element for constructing the map information. Furthermore, the map construction method through the above-mentioned method can improve the efficiency of map construction compared to the method of constructing a map using three-dimensional coordinates during the three-dimensional map information construction process. In addition, compared to the two-dimensional map in the related art, which is a map construction method that only considers two-dimensional information, the method provided in this embodiment also introduces altitude information as a map element of the map information to improve the accuracy of subsequent path planning.

[0075] In one example, the first preset value is the suspension height of the vehicle's suspension.

[0076] For example, in this embodiment, the suspension height of the vehicle's suspension can be used as the first preset value. The vehicle's suspension is a general term for all force-transmitting connection devices between the vehicle frame (or load-bearing body) and the axle (or wheel). The height between the suspension and the lowest point of the wheel is the suspension height. Furthermore, different first preset values ​​can be set for different vehicle structures to ensure that the height of obstacles that the vehicle can cross can be accurately determined, thereby improving the accuracy of subsequent vehicle path planning.

[0077] S204, according to the map elements of the height range, determine the height value and distance information corresponding to the grid; wherein the map elements include: two-dimensional information and height information in the obstacle information; the distance information is used to characterize the distance between the grid and the target obstacle corresponding to the grid; the target obstacle is the obstacle closest to the grid among the obstacles within the height range; the height value is the height value of the target obstacle corresponding to the grid. The map information includes multiple grids; the grid has position information; the position information is used to indicate the position of the sampling point in the road.

[0078] Exemplarily, in this embodiment, when it is necessary to construct map information corresponding to the height range based on the two-dimensional information and height information in the obstacle information, first determine the height range map layer according to the height information in the obstacle information, and then find the corresponding grid in the map layer according to the two-dimensional information in the obstacle information. The height information in the obstacle information is the height value corresponding to the grid, that is, if there is an obstacle at the position information corresponding to the grid within the height range, the obstacle is regarded as the target obstacle, and the height value of the target obstacle is used as the height value corresponding to the grid. If there is no obstacle at the position information corresponding to the grid within the height range, the height value of the grid is set to the height value of the obstacle closest to the grid.

[0079] The grids in the map also correspond to distance information. When determining the distance information of the grid, first determine the target obstacle that is closest to the position of the grid among the obstacles corresponding to the height range, and then determine the distance between the position information corresponding to the grid and the target obstacle as the distance information corresponding to the current grid. It should be noted that when an obstacle exists at the position information corresponding to the grid in a certain height range, the obstacle can be used as the target obstacle corresponding to the grid in the height range. At this time, the distance between the grid and the target obstacle can be regarded as 0, and the corresponding distance information can be set to 0 or other preset values.

[0080] S205: Determine the location information, height value and distance information of each grid as map information corresponding to the height range.

[0081] For example, based on the above step S204, the distance information, height value and location information corresponding to each grid may be further added to the map information. It should be noted that the distance information corresponding to the grid may be determined during the process of building the map.

[0082] It is understandable that, in this embodiment, the map information may also include distance information corresponding to each grid, so that the distance information of the grid can be combined to perform collision detection on the vehicle, thereby improving the accuracy of vehicle path planning and reducing the risk of vehicle collision.

[0083] S206. If the map element is two-dimensional information in the obstacle information, the distance information of the grid is determined according to the map element in the height range; the distance information is used to characterize the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; the map information includes multiple grids; the grid has position information; the position information is used to indicate the position of the sampling point in the road.

[0084] Exemplarily, when the map elements corresponding to the height range only include two-dimensional information in the obstacle information, when further constructing the map information, the map information can also be composed based on the grid corresponding to the position information and the distance information. Specifically, the distance information corresponding to the grid in this embodiment is the same as the distance information in the embodiment corresponding to the above step S205, and will not be repeated here. In a possible implementation, the grid can also correspond to the position information corresponding to the target obstacle. For example, in a scenario with only two-dimensional information of the obstacle information, the grid can correspond to the position information of the road sampling point, the distance information and the position information of the target obstacle; or, the grid can correspond to the position information of the road sampling point and the position information of the target obstacle; or, the grid can correspond to the position information and the distance information of the road sampling point.

[0085] S207: Determine the position information and distance information of each grid as map information corresponding to the altitude range.

[0086] Exemplarily, after the distance information corresponding to each grid is determined, the distance information corresponding to each grid and the position information corresponding to each grid may be used as the map information corresponding to the altitude range.

[0087] For example, in practical applications, the distance information corresponding to the grid can be calculated using distance calculation methods such as Euclidean distance and Manhattan distance to determine the distance information between the grid and the target obstacle.

[0088] It is understandable that when the map element only includes two-dimensional information in the obstacle information, the position information of the grid and the distance information of the grid may also be used as the map information, so as to perform obstacle collision detection based on the map information later.

[0089] S208. Generate a map according to the map information corresponding to each altitude range.

[0090] Exemplarily, the specific principle of step S208 can refer to step S104, which will not be described in detail here.

[0091] It can be understood that in this embodiment, map information is constructed by selecting different map elements in different height ranges, so that when the height range value is low, the distance information and position information of the grid in the map information can be determined only by relying on two-dimensional information, and when the value in the height range is large, the distance information, position information and height value of the grid in the map information can be determined by combining two-dimensional information and height information, that is, using a highly layered method to construct an ESDF (Euclidean Signed Distance Field) map to improve map construction efficiency. In addition, the vehicle's drivable path is planned by combining height information and distance information to improve the accuracy of the path planning result.

[0092] Figure 3 A flow chart of a collision detection method provided by an embodiment of the present disclosure is shown as follows: Figure 3 As shown, the method comprises the following steps:

[0093] S301: Determine a plurality of preset altitude ranges and map information corresponding to each altitude range.

[0094] Exemplarily, the method for determining the map information of each altitude range in this embodiment may refer to the method mentioned in the above embodiment.

[0095] In one example, when determining the map information corresponding to the height range, if the map elements corresponding to the height range are determined to be the two-dimensional information and the height information in the obstacle information, then when constructing the map information corresponding to the height range, the following steps may also be included:

[0096] Step 1: Determine the height value corresponding to the grid according to the map elements corresponding to the height range; the height value is the height value of the target obstacle corresponding to the grid; the target obstacle is the obstacle closest to the grid among the obstacles within the height range; the map information includes multiple grids; the grid has location information; the location information is used to indicate the location of the sampling point in the road.

[0097] For example, in this embodiment, the map information may include multiple grids. The grid can be understood as a grid for storing information. In this implementation, the grid in the map information has position information, and the position information corresponding to the grid corresponds to the position information of the corresponding sampling point in the road, that is, the position information of the grid is used as the position of a sampling point in the road.

[0098] When it is necessary to construct the map information corresponding to the height range based on the two-dimensional information and height information in the obstacle information, determine the height range map layer according to the height information in the obstacle information, and then find the corresponding grid in the map layer according to the two-dimensional information in the obstacle information. The height information in the obstacle information is the height value corresponding to the grid, that is, if there is an obstacle at the position information corresponding to the grid within the height range, the obstacle is regarded as the target obstacle, and the height value of the target obstacle is used as the height value corresponding to the grid. If there is no obstacle at the position information corresponding to the grid within the height range, the height value of the grid is set to the height value of the obstacle closest to the grid.

[0099] Step 2: Determine the location information and height value of each grid, which is the map information corresponding to the height range.

[0100] Exemplarily, in this embodiment, the height value corresponding to the grid can be determined based on the height information in the map elements, and the height value corresponding to each grid and the position information corresponding to each grid can be determined as the map information corresponding to the height range.

[0101] It is understandable that in this embodiment, two-dimensional grid map information can be constructed through two-dimensional information in map elements, and the height value can be set for each grid in combination with the height information in the map elements. That is, it is equivalent to adding the height value corresponding to each grid in the construction method of the two-dimensional grid map, and then constructing 2.5-dimensional map information, so that the vehicle's driving path can be accurately determined in combination with the height information of the obstacle in the future, thereby improving the vehicle's driving safety.

[0102] S302. Perform collision detection on the vehicle according to the map information corresponding to the height range, and determine the collision detection result corresponding to the height range; the collision detection result is used to indicate whether the vehicle will collide within the height range.

[0103] For example, in this embodiment, after determining the map information corresponding to each height range, a collision detection is performed on the vehicle in each map information, and a collision detection result corresponding to the vehicle in the height range is determined, that is, whether the vehicle has a collision in the height range. For example, the collision detection result can be specifically used to indicate which position information of the vehicle in the height range will not collide.

[0104] In one example, when performing collision detection on a vehicle, a simulation model corresponding to the vehicle may be used to perform collision detection in map information to determine whether the vehicle will collide with a grid representing an obstacle in the map information.

[0105] In one example, when executing step S302, the following steps may be performed:

[0106] The first step of step S302 is to determine at least one detection circle corresponding to the vehicle within a height range; the detection circle is used to characterize the structure of the vehicle.

[0107] Exemplarily, in this embodiment, a detection circle can be used to characterize the structure corresponding to the vehicle. Specifically, within a height range, at least one inscribed circle corresponding to the vehicle model within the height range can be used as a detection circle to replace the specific structure of the vehicle within the height range. In one example, when constructing an inscribed circle, it can be constructed directly based on the structural model of the actual size of the vehicle, or the structural model of the actual size of the vehicle can be enlarged in proportion before constructing the inscribed circle, that is, a certain redundancy is added based on the actual size of the vehicle to further reduce the possibility of vehicle collision. For example, when dividing the map layer by height range, different structural model (i.e., the structural model of the actual size of the above-mentioned vehicle) magnification ratios can be set for different height ranges (i.e., different map layers). For example, obstacles with a lower height range are usually less dangerous to vehicles than obstacles with a higher height range (for example, the danger level of the curb is lower than that of the wall), and the higher the height range, the greater the magnification ratio of the corresponding model structure model. For another example, when constructing a map in layers, the map layer can also be divided according to the type of obstacle, and each map layer can include multiple grids with two-dimensional information, height values ​​and distance information. Through the above-mentioned layering method, different structural model magnification ratios can be set for different map layers. For example, for stone piers and plastic cones of the same height, the stone pier is more dangerous, so the stone pier and the plastic cone can be divided into different map layers. The map layer corresponding to the stone pier can be set with a larger structural model magnification ratio when performing collision detection. By setting the above-mentioned structural model magnification ratio, the driving safety of the vehicle is further ensured.

[0108] The second step of step S302: determining the collision information of the detection circle according to the map information corresponding to the detection circle and the height range; the collision information indicates whether the detection circle will collide within the height range.

[0109] Exemplarily, after the detection circle is determined, collision detection can be performed based on the map information corresponding to the detection circle and the height range. For example, when performing collision detection based on the detection circle and map information, the real movement of the vehicle can be simulated by moving the detection circle, and in the process of moving the detection circle, the area where the detection circle is located is determined in sequence, whether there is an obstacle in the height range, if there is, it is determined that a collision will be sent, if not, the vehicle will not collide in this area, and then the collision information corresponding to the detection circle is obtained, wherein the collision information can indicate whether the detection circle will collide in the height range, and further indicate the position where the collision will not occur.

[0110] The third step of step S302 is to determine the collision detection result corresponding to the height range according to the collision information of each detection circle.

[0111] For example, after the collision information corresponding to each detection circle is obtained, the collision information corresponding to each detection circle may be combined to comprehensively determine the collision detection result of the vehicle within the height range.

[0112] It can be understood that in this embodiment, by simplifying the vehicle model into a simple detection circle structure, the difficulty of determining the collision detection result corresponding to the vehicle in the map information is reduced, which is conducive to improving the efficiency of collision detection.

[0113] In one example, when executing the second step of step S302, if the map information includes multiple grids; the grid has location information and distance information; the location information is used to indicate the location of the sampling point in the road; the distance information represents the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; the second step of step S302 can be achieved by the following steps: determining the target grid where the center of the detection circle is located; if the distance information of the target grid is less than the radius of the detection circle, determining the collision information represents that the detection circle will collide within the height range.

[0114] For example, the map information in this embodiment is Figure 2The method in the embodiment shown is constructed and will not be repeated here. When performing collision detection based on the above-mentioned map information and the detection circle, first determine the grid (i.e., the above-mentioned target grid) where the center of the detection circle is located in the map information. Afterwards, based on the distance information corresponding to the target grid (i.e., the distance between the obstacle closest to the target grid and the target grid) and the radius of the detection circle, determine whether a collision will occur when the center of the detection circle is in the target grid. Specifically, if the distance information of the target grid is greater than or equal to the radius of the detection circle, it indicates that the nearest obstacle is outside the detection circle, that is, there is no obstacle in the detection circle, and it is determined that no collision will occur when the detection circle is in this position. If the distance information of the target grid is less than the radius of the detection circle, it indicates that the nearest obstacle is within the detection circle, that is, the detection circle will collide in this area, and then the collision information corresponding to the detection circle can be obtained in the above manner.

[0115] It is understandable that in this embodiment, by comparing the radius of the detection circle and the distance information of the target grid where the center of the detection circle is located, it is determined whether the detection circle will collide at the target grid, so as to improve the collision detection efficiency.

[0116] In one example, the map information includes multiple grids; the grid has position information, distance information and height value; the position information is used to indicate the position of the sampling point in the road; the distance information represents the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; the height value is the height value of the target obstacle; and the detection circle has a height attribute, which is used to represent the height of the vehicle structure corresponding to the detection circle; further, under the construction method of this map information, the second step of step S302 can be achieved by the following steps: determining the target grid where the center of the detection circle is located; if it is determined that the distance information of the target grid is less than the radius of the detection circle, and the height attribute of the detection circle is less than the target height value, then determining that the collision information represents that the detection circle will collide within the height range; the target height value is the height value of the to-be-compared grid corresponding to the target grid; the to-be-compared grid is the grid where the obstacle closest to the target grid in the map information is located.

[0117] Exemplarily, the construction method of the map information provided in this embodiment can refer to the description in the above embodiment, which will not be repeated here. In addition, in this embodiment, the detection circle has a height attribute, wherein the height attribute can be understood as the height of the vehicle structure indicated by the detection circle. When performing collision detection according to the above map information, first, determine the target grid where the center of the detection circle is located in the map information. Afterwards, the collision information corresponding to the detection circle is determined in combination with the distance information corresponding to the target grid, the height value corresponding to the target grid, the radius of the detection circle, and the height attribute of the detection circle. Specifically, when it is determined that the distance information corresponding to the target grid is less than the radius of the detection circle, it indicates that there is an obstacle in the area corresponding to the detection circle. Further, the target obstacle corresponding to the target grid (i.e., the obstacle closest to the target grid) is determined, and the grid where the target obstacle corresponding to the target grid is located is determined, and the height information corresponding to the grid is determined as the target height information. Afterwards, the height attribute of the detection circle is compared with the target height information. If it is determined that the height attribute of the detection circle is less than the target height value, it is determined that the detection circle will collide here.

[0118] It can be understood that in this embodiment, by comparing the radius of the detection circle and the distance information of the target grid, and comparing the height attribute of the detection circle and the height of the obstacle closest to the target grid (i.e., the above-mentioned target height value), the collision information corresponding to the detection circle in this height range is comprehensively determined to improve the accuracy of the collision detection result.

[0119] S303: Determine the driving path of the vehicle according to the collision detection results corresponding to each height range.

[0120] For example, after the collision detection results of each height range are obtained, the path planning of the vehicle is performed in combination with each collision detection result to ensure that the vehicle will not collide when it finally travels along the determined driving path.

[0121] It can be understood that in this embodiment, after determining the map information corresponding to each height range, the vehicle path can also be planned in combination with the collision detection results corresponding to the vehicle in each map information, so as to accurately determine the drivable path of the vehicle on the road and ensure the safe driving of the vehicle.

[0122] For example, Figure 4 A side view of a vehicle is provided for an embodiment of the present disclosure, wherein the height of the rearview mirror from the ground is hm, the total length of the vehicle body is L, the length of the front overhang of the vehicle is Lf, the length of the rear overhang of the vehicle is Lr, the height of the vehicle suspension is hc, and the length of the main body of the vehicle excluding the front and rear overhangs is Lb.

[0123] In the example, the obstacle height can be divided into three layers, where the first height range is (0, hc), and the obstacles within this height range are surmountable by the front and rear overhangs and rearview mirrors of the vehicle, but cannot be surmounted by the vehicle body connected to the front and rear wheels of the vehicle. The second height range is (hc, hm), and the obstacles within this height range can be surmounted by the left and right rearview mirrors, but cannot be surmounted by the vehicle body. The third height range is a value range greater than hm. That is, obstacles within this height range cannot be surmounted by any part of the entire vehicle.

[0124] For obstacles within the first height range, the map information can be constructed only in combination with the two-dimensional information. If the obstacles within the first height range are set in the same map information as the obstacles within the second height range and the third height range, it is easy to have an erroneous collision detection result. For example, in one detection method, if the vehicle can safely pass through the obstacle closest to the center of the detection circle in the detection circle, it is determined that all obstacles in the detection circle can pass; if the obstacle closest to the center of the detection circle cannot pass, it is determined that the obstacles in the detection circle cannot pass. However, the above detection method is prone to the following misjudgment phenomenon: when there is a surmountable obstacle A and an insurmountable obstacle B in the detection circle, if the center of the detection circle is closest to the obstacle A, it will be misjudged that the detection circle will not collide here. For example, for the roadside and the trees planted near the roadside, when the detection circle includes the roadside and the trees, if the roadside is closer to the center of the circle, it will be judged that there will be no collision in the detection circle, but in fact the vehicle will collide with the trees in the detection circle. Therefore, in order to avoid the above phenomenon, an independent map information can be set for the first height range. Combined with the above example, the roadside and trees are split into two map information according to the height to reduce the probability of misjudgment.

[0125] In addition, for obstacles within the second height range and the third height range, the two height ranges are distinguished by the height hm of the rearview mirror from the ground, and the main difference between the two height ranges is whether the vehicle rearview mirror area can be crossed. When performing collision detection on the rearview mirror area corresponding to the second height range, the radius of the detection circle used to characterize the size of the rearview mirror area is smaller. The smaller the radius of the detection circle, the lower the probability that there is a surmountable obstacle A and an insurmountable obstacle B in the detection circle at the same time, and the distance between the center of the detection circle and obstacle A is less than the distance between the center of the detection circle and obstacle B. That is, the probability of misjudging that no collision will occur within the detection circle is low. Therefore, obstacles within the second height range and obstacles within the third height range can be set in the same map information. Furthermore, by setting a map information separately for the first height range and setting another map information for the second height range and the third height range together, while ensuring a high accuracy of the collision detection results, the number of layers in the map is reduced, and the efficiency of map construction is improved.

[0126] For example, Figure 5 A collision detection schematic diagram is provided for an embodiment of the present disclosure. The collision schematic diagram is a top view schematic diagram of collision detection for the map information corresponding to the first height range. When constructing the detection circle, an inscribed circle can be constructed within the range of the vehicle body to perform collision detection.

[0127] Figure 6 Another collision detection schematic diagram provided by the embodiment of the present disclosure is shown. The collision schematic diagram is a schematic diagram of performing collision detection on the map information corresponding to the second height range and the third height range. Figure 6 As shown, when constructing the detection circle, a detection circle can be constructed at the overall vehicle body (i.e., detection circle 1 in the figure), and further, a detection circle can be constructed for the rearview mirror area at the height of the rearview mirror (i.e., detection circle 2 in the figure), and collision detection can be performed in the map information in combination with the constructed multiple detection circles.

[0128] Figure 7 A schematic diagram of a structure of a layered map construction device provided in an embodiment of the present disclosure, such as Figure 7 As shown, the layered map construction device 700 includes:

[0129] The first determination unit 701 is used to determine obstacle information corresponding to a height range on a road on which a vehicle is traveling based on multiple preset height ranges; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range.

[0130] The second determining unit 702 is used to determine the map element of the height range according to the value of the height range, wherein the map element includes at least one of the following information: two-dimensional information, height information; the value of the height range is positively correlated with the type of information contained in the map element.

[0131] The first generating unit 703 is used to generate map information corresponding to the height range according to the map elements in the height range.

[0132] The second generating unit 704 is used to generate a map according to the map information corresponding to each altitude range.

[0133] The device provided in this embodiment is used to implement the technical solution provided by the above method. Its implementation principle and technical effect are similar and will not be described in detail.

[0134] Figure 8 A structural diagram of another layered map construction device provided in an embodiment of the present disclosure is shown in FIG. Figure 8 As shown, the layered map construction device 800 includes:

[0135] The first determination unit 801 is used to determine obstacle information corresponding to a height range on a road on which a vehicle is traveling based on multiple preset height ranges; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range.

[0136] The second determining unit 802 is used to determine the map element of the height range according to the value of the height range, wherein the map element includes at least one of the following information: two-dimensional information, height information; the value of the height range is positively correlated with the type of information contained in the map element.

[0137] The first generating unit 803 is used to generate map information corresponding to the height range according to the map elements in the height range.

[0138] The second generating unit 804 is used to generate a map according to the map information corresponding to each altitude range.

[0139] In one example, the second determining unit 802 includes:

[0140] The first determining module 8021 is used to determine a height range in which the first value is less than or equal to a first preset value as a first range.

[0141] The second determination module 8022 is used to determine that the map elements in the first range include two-dimensional information corresponding to the first range; wherein the first value is the maximum value in the height range; and the first preset value is the height of an obstacle that the vehicle can cross.

[0142] The third determining module 8023 is used to determine that there is at least one height range whose value is greater than the first preset value as the second range.

[0143] The fourth determining module 8024 is used to determine that the map element corresponding to the second range includes the two-dimensional information and height information corresponding to the second range.

[0144] In one example, the first preset value is the suspension height of the vehicle's suspension.

[0145] In one example, the number of height ranges is two.

[0146] In one example, the first generating unit 803 includes:

[0147] The fifth determination module 8031 ​​is used to determine the height value corresponding to the grid according to the map elements corresponding to the height range; wherein the map information includes multiple grids; the grid has position information; the position information is used to indicate the position of the sampling point in the road; the map elements include: two-dimensional information and height information in the obstacle information; the height value is the height value of the target obstacle corresponding to the grid; the target obstacle is the obstacle located in the height range and is closest to the grid;

[0148] The sixth determination module 8032 is used to determine the location information and height value of each grid, which is the map information corresponding to the height range.

[0149] In one example, the device further includes:

[0150] The seventh determination module 8033 is used to determine the distance information of the grid according to the map elements of the height range; the distance information is used to represent the distance between the grid and the target obstacle corresponding to the grid;

[0151] The sixth determination module 8032 is specifically used to determine the position information, height value and distance information of each grid, which is the map information corresponding to the height range.

[0152] In one example, the first generating unit 803 includes:

[0153] The eighth determination module 8034 is used to determine the distance information of the grid according to the map elements of the height range; wherein the map information includes a plurality of grids; the grid has position information; the position information is used to indicate the position of the sampling point in the road; the distance information is used to characterize the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; the map elements include: two-dimensional information in the obstacle information;

[0154] The ninth determination module 8035 is used to determine the position information and distance information of each grid, which is the map information corresponding to the height range.

[0155] The device provided in this embodiment is used to implement the technical solution provided by the above method. Its implementation principle and technical effect are similar and will not be described in detail.

[0156] Fig. 9 A schematic diagram of a collision detection device provided by an embodiment of the present disclosure is shown in FIG. Fig. 9 As shown, the collision detection device 900 comprises:

[0157] The third determining unit 901 is used to determine a plurality of preset height ranges;

[0158] The fourth determining unit 902 is used to determine the map information corresponding to each altitude range; the map information is obtained by the layered map building device according to any one of the above embodiments;

[0159] A fifth determining unit 903 is used to perform collision detection on the vehicle according to the map information corresponding to the height range, and determine the collision detection result corresponding to the height range; the collision detection result is used to indicate whether the vehicle will collide within the height range;

[0160] The sixth determining unit 904 is used to determine the driving path of the vehicle according to the collision detection results corresponding to each height range.

[0161] The device provided in this embodiment is used to implement the technical solution provided by the above method. Its implementation principle and technical effect are similar and will not be described in detail.

[0162] Fig.10 A schematic diagram of the structure of another collision detection device provided in an embodiment of the present disclosure is shown in FIG. Fig.10 As shown, the collision detection device 1000 comprises:

[0163] The third determining unit 1001 is used to determine a plurality of preset height ranges;

[0164] The fourth determining unit 1002 is used to determine the map information corresponding to each altitude range; the map information is obtained by the layered map building device according to any one of the above embodiments;

[0165] The fifth determining unit 1003 is used to perform collision detection on the vehicle according to the map information corresponding to the height range, and determine the collision detection result corresponding to the height range; the collision detection result is used to indicate whether the vehicle will collide within the height range;

[0166] The sixth determining unit 1004 is used to determine the driving path of the vehicle according to the collision detection results corresponding to each height range.

[0167] In one example, the fifth determining unit 1003 includes:

[0168] A tenth determining module 10031 is used to determine at least one detection circle corresponding to the vehicle within a height range; the detection circle is used to characterize the structure of the vehicle;

[0169] The eleventh determining module 10032 is used to determine the collision information of the detection circle according to the map information corresponding to the detection circle and the height range; the collision information indicates whether the detection circle will collide within the height range;

[0170] The twelfth determination module 10033 is used to determine the collision detection result corresponding to the height range according to the collision information of each detection circle.

[0171] In one example, the eleventh determining module 10032 includes:

[0172] The first determination submodule 100321 is used to determine that the grid where the center of the detection circle is located is the target grid; the map information includes multiple grids; the grid has position information and distance information; the position information is used to indicate the position of the sampling point in the road; the distance information represents the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range;

[0173] The second determining submodule 100322 is used to determine that collision information indicates that a collision will occur within a height range of the detection circles if the distance information of the target grid is less than the radius of the detection circle.

[0174] In one example, the eleventh determining module 10032 includes:

[0175] The third determination submodule is used to determine that the grid where the center of the detection circle is located is the target grid; the map information includes multiple grids; the grid has position information, distance information and height value; the position information is used to indicate the position of the sampling point in the road; the distance information represents the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; the height value is the height value of the target obstacle; the detection circle has a height attribute, and the height attribute is used to represent the height of the vehicle structure corresponding to the detection circle;

[0176] The fourth determination submodule is used to determine that if the distance information of the target grid is less than the radius of the detection circle, and the height attribute of the detection circle is less than the target height value, then determine the collision information to indicate that the detection circle will collide within the height range; the target height value is the height value of the grid to be compared corresponding to the target grid; the grid to be compared is the grid where the obstacle is closest to the target grid in the map information.

[0177] The device provided in this embodiment is used to implement the technical solution provided by the above method. Its implementation principle and technical effect are similar and will not be described in detail.

[0178] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0179] The present disclosure provides an electronic device, comprising: 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 provided by any of the above embodiments.

[0180] Fig.11 A block diagram of an electronic device provided in an embodiment of the present disclosure, such as Fig.11 As shown, the electronic device 1100 in the present disclosure may include: a processor 1101 and a memory 1102 .

[0181] The memory 1102 is used to store programs. The memory 1102 may include volatile memory, such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc. The memory may also include non-volatile memory, such as flash memory. The memory 1102 is used to store computer programs (such as applications, functional modules, etc. that implement the above methods), computer instructions, etc. The above computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 1102. And the above computer programs, computer instructions, data, etc. may be called by the processor 1101.

[0182] The above-mentioned computer programs, computer instructions, etc. may be stored in partitions in one or more memories 1102 . And the above-mentioned computer programs, computer instructions, etc. may be called by the processor 1101 .

[0183] The processor 1101 is used to execute the computer program stored in the memory 1102 to implement each step of the method involved in the above embodiment.

[0184] For details, please refer to the relevant description in the previous method embodiment.

[0185] The processor 1101 and the memory 1102 may be independent structures or integrated structures. When the processor 1101 and the memory 1102 are independent structures, the memory 1102 and the processor 1101 may be coupled and connected via a bus 1103 .

[0186] The electronic device of this embodiment can execute the technical solution in the above method, and its specific implementation process and technical principle are the same, which will not be repeated here.

[0187] The present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method provided by any of the above embodiments.

[0188] According to an embodiment of the present disclosure, the present disclosure also provides a computer program product, which includes: a computer program, the computer program is stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above embodiments.

[0189] Fig.12 A schematic block diagram of an example electronic device 1200 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0190] like Fig.12 As shown, the device 1200 includes a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a random access memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 can also be stored. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0191] A number of components in the device 1200 are connected to the I / O interface 1205, including: an input unit 1206, such as a keyboard, a mouse, etc.; an output unit 1207, such as various types of displays, speakers, etc.; a storage unit 1208, such as a disk, an optical disk, etc.; and a communication unit 1209, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1209 allows the device 1200 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0192] The computing unit 1201 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1201 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1201 performs the various methods and processes described above, such as a layered map construction method and a collision detection method. For example, in some embodiments, the layered map construction method and the collision detection method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1208. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1200 via the ROM 1202 and / or the communication unit 1209. When the computer program is loaded into the RAM 1203 and executed by the computing unit 1201, one or more steps of the layered map construction method and the collision detection method described above may be executed. Alternatively, in other embodiments, the computing unit 1201 may be configured to execute the layer-based map building method and the collision detection method in any other appropriate manner (eg, by means of firmware).

[0193] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0194] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0195] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, 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 foregoing.

[0196] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0197] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0198] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0199] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0200] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A layered map construction method, comprising: According to a plurality of preset height ranges, obstacle information corresponding to the height ranges is determined on a road on which the vehicle is traveling; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range; Determine a map element of the height range according to the value of the height range, wherein the map element includes at least one of the following information: two-dimensional information and height information; the value of the height range is positively correlated with the type of information contained in the map element; generate map information corresponding to the height range according to the map element of the height range; A map is generated according to the map information corresponding to each of the altitude ranges.

2. The method according to claim 1, wherein: Determining map elements within the height range according to the values ​​of the height range includes: Determine a height range in which the first value is less than or equal to a first preset value as a first range, and determine that the map elements in the first range include two-dimensional information corresponding to the first range; wherein the first value is a maximum value in the height range; and the first preset value is a height of an obstacle that the vehicle can cross; It is determined that there is at least one height range whose value is greater than the first preset value as a second range, and it is determined that the map element corresponding to the second range includes the two-dimensional information and height information corresponding to the second range.

3. The method according to claim 2, wherein: The first preset value is the suspension height of the vehicle's suspension.

4. The method according to any one of claims 1 to 3, wherein: The number of the height ranges is two.

5. The method according to any one of claims 1 to 4, wherein: The map information includes a plurality of grids; the grids have position information; the position information is used to indicate the position of the sampling point in the road; Generating map information corresponding to the height range according to the map elements in the height range includes: Determine the height value corresponding to the grid according to the map elements corresponding to the height range; wherein the map elements include: two-dimensional information and height information in the obstacle information; the height value is the height value of the target obstacle corresponding to the grid; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; The position information and height value of each grid are determined to be the map information corresponding to the height range.

6. The method according to claim 5, wherein: The method further comprises: Determining distance information of the grid according to the map elements in the height range; the distance information is used to represent the distance between the grid and the target obstacle corresponding to the grid; Determine the location information and height value of each grid, which is the map information corresponding to the height range, including: The position information, height value and distance information of each grid are determined as map information corresponding to the height range.

7. The method according to any one of claims 1 to 6, wherein: The map information includes a plurality of grids; the grids have position information; the position information is used to indicate the position of the sampling point in the road; Generating map information corresponding to the height range according to the map elements in the height range includes: Determine the distance information of the grid according to the map elements of the height range; wherein the distance information is used to represent the distance between the grid and the target obstacle; the target obstacle is the obstacle closest to the grid among the obstacles within the height range; the map elements include: two-dimensional information in the obstacle information; The position information and distance information of each grid are determined as map information corresponding to the height range.

8. A collision detection method, comprising: Determine a plurality of preset altitude ranges and map information corresponding to each of the altitude ranges; The map information is obtained by the method according to any one of claims 1 to 7; Performing collision detection on the vehicle according to the map information corresponding to the height range, and determining a collision detection result corresponding to the height range; the collision detection result is used to indicate whether the vehicle will collide within the height range; The driving path of the vehicle is determined according to the collision detection results corresponding to each of the height ranges.

9. The method according to claim 8, wherein: According to the map information corresponding to the height range, a collision detection is performed on the vehicle to determine the collision detection result corresponding to the height range, including: Determine at least one detection circle corresponding to the vehicle within the height range; the detection circle is used to characterize the structure of the vehicle; Determining collision information of the detection circle according to map information corresponding to the detection circle and the height range; the collision information indicates whether the detection circle will collide within the height range; According to the collision information of each detection circle, a collision detection result corresponding to the height range is determined.

10. The method according to claim 9, wherein: The map information includes a plurality of grids; the grids have position information and distance information; the position information is used to indicate the position of the sampling point in the road; the distance information represents the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; Determining collision information of the detection circle according to map information corresponding to the detection circle and the height range includes: Determine the grid where the center of the detection circle is located as the target grid; If the distance information of the target grid is smaller than the radius of the detection circle, determining the collision information indicates that the detection circles will collide within the height range.

11. The method according to claim 9, wherein: The map information includes a plurality of grids; the grids have position information, distance information and a height value; the position information is used to indicate the position of a sampling point in a road; the distance information represents the distance between the grid and a target obstacle; the target obstacle is an obstacle located within a height range and is closest to the grid; the height value is the height value of the target obstacle; The detection circle has a height attribute, and the height attribute is used to characterize the height of the vehicle structure corresponding to the detection circle; Determining collision information of the detection circle according to map information corresponding to the detection circle and the height range includes: Determine the grid where the center of the detection circle is located as the target grid; If it is determined that the distance information of the target grid is smaller than the radius of the detection circle, and the height attribute of the detection circle is smaller than the target height value, then it is determined that the collision information indicates that the detection circle will collide within the height range; the target height value is the height value of the grid to be compared corresponding to the target grid; the grid to be compared is the grid where the obstacle is closest to the target grid in the map information.

12. A map construction device based on layering, comprising: A first determining unit is used to determine, based on a plurality of preset height ranges, obstacle information corresponding to the height ranges on a road on which the vehicle is traveling; wherein the obstacle information includes two-dimensional information and height information; the two-dimensional information represents a projection position of an obstacle within the height range on the road; and the height information represents a height value of an obstacle within the height range; A second determining unit is used to determine a map element of the height range according to a value of the height range, wherein the map element includes at least one of the following information: two-dimensional information and height information; and the value of the height range is positively correlated with the type of information included in the map element; A first generating unit, configured to generate map information corresponding to the altitude range according to the map elements in the altitude range; The second generating unit is used to generate a map according to the map information corresponding to each of the altitude ranges.

13. The device according to claim 12, wherein: The second determining unit includes: A first determining module, configured to determine a height range in which a first value is less than or equal to a first preset value as a first range; A second determination module, configured to determine that the map elements of the first range include two-dimensional information corresponding to the first range; wherein the first value is a maximum value in a height range; and the first preset value is a height of an obstacle that the vehicle can cross; A third determining module is used to determine that there is at least one height range whose value is greater than the first preset value as a second range; The fourth determining module is used to determine that the map element corresponding to the second range includes the two-dimensional information and height information corresponding to the second range.

14. The device according to claim 13, wherein: The first preset value is the suspension height of the vehicle's suspension.

15. The device according to any one of claims 12 to 14, wherein: The number of the height ranges is two.

16. The device according to any one of claims 12 to 15, wherein: The first generating unit comprises: A fifth determination module is used to determine the height value corresponding to the grid according to the map element corresponding to the height range; wherein the map information includes a plurality of grids; the grid has position information; the position information is used to indicate the position of the sampling point in the road; the map element includes: two-dimensional information and height information in the obstacle information; the height value is the height value of the target obstacle corresponding to the grid; the target obstacle is the obstacle located in the height range and is closest to the grid; The sixth determination module is used to determine the position information and height value of each grid, which is the map information corresponding to the height range.

17. The device according to claim 16, wherein: The device also includes: A seventh determination module, used to determine the distance information of the grid according to the map elements in the height range; the distance information is used to represent the distance between the grid and the target obstacle corresponding to the grid; The sixth determination module is specifically used to determine the position information, height value and distance information of each grid, which is the map information corresponding to the height range.

18. The device according to any one of claims 12 to 17, wherein: The first generating unit comprises: The eighth determination module is used to determine the distance information of the grid according to the map elements in the height range; wherein the map information includes a plurality of grids; the grid has position information; the position information is used to indicate the position of the sampling point in the road; the distance information is used to characterize the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles in the height range; the map elements include: two-dimensional information in the obstacle information; The ninth determination module is used to determine the position information and distance information of each grid, which is the map information corresponding to the height range.

19. A collision detection device, comprising: A third determining unit, used to determine a plurality of preset height ranges; A fourth determining unit, used to determine map information corresponding to each of the altitude ranges; The map information is obtained by the device according to any one of claims 12-18; A fifth determining unit, configured to perform collision detection on the vehicle according to the map information corresponding to the height range, and determine a collision detection result corresponding to the height range; the collision detection result is used to indicate whether the vehicle will collide within the height range; The sixth determining unit is used to determine the driving path of the vehicle according to the collision detection results corresponding to each of the height ranges.

20. The device according to claim 19, wherein The fifth determining unit includes: A tenth determination module is used to determine at least one detection circle corresponding to the vehicle within the height range; the detection circle is used to characterize the structure of the vehicle; an eleventh determination module, configured to determine collision information of the detection circle according to map information corresponding to the detection circle and the height range; the collision information indicates whether the detection circle will collide within the height range; The twelfth determination module is used to determine the collision detection result corresponding to the height range according to the collision information of each detection circle.

21. The device according to claim 20, wherein: The eleventh determining module comprises: The first determination submodule is used to determine that the grid where the center of the detection circle is located is the target grid; the map information includes a plurality of grids; the grid has position information and distance information; the position information is used to indicate the position of the sampling point in the road; the distance information represents the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; The second determining submodule is configured to determine that, if it is determined that the distance information of the target grid is smaller than the radius of the detection circle, the collision information indicates that the detection circle will collide within the height range.

22. The device according to claim 20, wherein: The eleventh determining module comprises: The third determination submodule is used to determine that the grid where the center of the detection circle is located is the target grid; the map information includes multiple grids; the grid has position information, distance information and height value; the position information is used to indicate the position of the sampling point in the road; the distance information represents the distance between the grid and the target obstacle; the target obstacle is the obstacle that is closest to the grid among the obstacles within the height range; the height value is the height value of the target obstacle; the detection circle has a height attribute, and the height attribute is used to represent the height of the vehicle structure corresponding to the detection circle; The fourth determination submodule is used to determine that if it is determined that the distance information of the target grid is less than the radius of the detection circle, and the height attribute of the detection circle is less than the target height value, then determine that the collision information represents that the detection circle will collide within the height range; the target height value is the height value of the grid to be compared corresponding to the target grid; the grid to be compared is the grid where the obstacle is closest to the target grid in the map information.

23. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 11.

24. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-11.

25. A computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

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