Ramp marking method and device, equipment and storage medium

Abstract

The invention provides a ramp marking method and device, equipment and a storage medium. Relates to the technical field of self-driving mine cars. The method comprises the steps that sampling processing is conducted on roads in an initial map, a discrete map is obtained, and the discrete map comprises a plurality of sampling points and indexes, coordinates and initial pitch angles of the sampling points; filtering the initial pitch angles of the plurality of sampling points to obtain a target pitch angle of each sampling point; according to the target pitch angle of each sampling point, multiple target sampling points are determined in the multiple sampling points, and the absolute value of the target pitch angle of each target sampling point is larger than or equal to a preset angle; determining at least one ramp sampling point set according to the index and the coordinate of each sampling point in the plurality of target sampling points; and according to the at least one ramp sampling point set, ramp labeling processing is performed in the initial map, so that the accuracy of ramp labeling is improved.

Description

Technical Field

[0001] This application relates to the technical field of autonomous mining trucks, and particularly to a ramp annotation method, device, equipment and storage medium. Background Art

[0002] With the rapid development of autonomous driving technology in mines and the increasing requirements for the driving safety and control efficiency of mining trucks, especially in the complex and undulating road conditions of mining areas, the need for accurate identification of continuous slope road sections by autonomous mining trucks is particularly urgent.

[0003] In related technologies, the road surface slope is usually estimated by an acceleration sensor and vehicle operation parameters. Specifically, a longitudinal acceleration sensor collects the longitudinal acceleration during vehicle driving, and at the same time, a vehicle state sensor collects the operation parameters of the vehicle. In this way, the slope can be estimated based on the longitudinal acceleration and vehicle operation parameters of the vehicle, so as to determine the ramp position.

[0004] However, in the above method, due to the complex road conditions in the mining area (for example, sharp turns, etc.) and the noise interference caused by sensor vibration on the road surface, the ramp information may be segmented and broken, making it difficult to form a continuous ramp semantic map, resulting in a low accuracy of ramp annotation. Summary of the Invention

[0005] This application provides a ramp annotation method, device, equipment and storage medium to solve the problem of low accuracy of ramp annotation.

[0006] In a first aspect, this application provides a ramp annotation method, including:

[0007] Performing sampling processing on the roads in the initial map to obtain a discrete map, where the discrete map includes multiple sampling points, as well as the index, coordinates and initial pitch angle of each sampling point;

[0008] Performing filtering processing on the initial pitch angles of the multiple sampling points to obtain the target pitch angle of each sampling point;

[0009] Determining multiple target sampling points among the multiple sampling points according to the target pitch angle of each sampling point, where the absolute value of the target pitch angle of the target sampling point is greater than or equal to a preset angle;

[0010] Determining at least one ramp sampling point set according to the index and coordinates of each sampling point among the multiple target sampling points;

[0011] Performing ramp annotation processing on the initial map according to the at least one ramp sampling point set.

[0012] In a possible implementation, at least one ramp sampling point set is determined according to the indexes and coordinates of the sampling points in the multiple target sampling points, including:

[0013] The multiple sampling points are grouped according to the indexes of the multiple target sampling points to obtain at least one sampling point set;

[0014] At least one ramp sampling point set is determined according to the at least one sampling point set and the coordinates of the sampling points in each sampling point set.

[0015] In a possible implementation, the multiple sampling points are grouped according to the indexes of the multiple target sampling points to obtain at least one sampling point set, including:

[0016] The multiple target sampling points are sorted in ascending order of indexes;

[0017] The index difference between every two adjacent target sampling points is determined;

[0018] At least one sampling point set is determined according to the index difference between every two adjacent target sampling points. For any one sampling point set, the index difference between every two adjacent sampling points in the sampling point set is less than or equal to a preset index interval.

[0019] In a possible implementation, at least one ramp sampling point set is determined according to the at least one sampling point set and the coordinates of the sampling points in each sampling point set, including:

[0020] At least one selected sampling point set is determined from the at least one sampling point set according to the number of sampling points included in each sampling point set, and the number of sampling points included in the selected sampling point set is greater than or equal to a preset number;

[0021] For any one selected sampling point set, the missing sampling points corresponding to the selected sampling point set and the indexes of the missing sampling points are determined according to the indexes of the sampling points in the selected sampling point set;

[0022] The coordinates and target pitch angles of the missing sampling points are obtained according to the indexes of the missing sampling points;

[0023] The selected sampling point set is updated according to the coordinates and target pitch angles of the missing sampling points to obtain the ramp sampling point set corresponding to the selected sampling point set; wherein, the at least one ramp sampling point set includes the ramp sampling point sets corresponding to the selected sampling point sets.

[0024] In a possible implementation, for any sampling point, filtering the initial pitch angle of the sampling point to obtain the target pitch angle of the sampling point, including:

[0025] According to the index of the sampling point, determining a plurality of first sampling points and a plurality of second sampling points among the plurality of sampling points, where the index of the first sampling point is less than the index of the sampling point, and the index of the second sampling point is greater than the index of the sampling point;

[0026] Determining the initial pitch angle of the sampling point, the initial pitch angles of the plurality of first sampling points, and the average pitch angle of the initial pitch angles of the plurality of second sampling points;

[0027] Determining the average pitch angle as the target pitch angle of the sampling point.

[0028] In a possible implementation, according to the target pitch angles of the respective sampling points, determining a plurality of target sampling points among the plurality of sampling points, including:

[0029] According to the target pitch angles of the respective sampling points, determining a plurality of sampling points to be deleted among the plurality of sampling points, where the absolute value of the target pitch angle of the sampling point to be deleted is less than the preset angle;

[0030] Deleting the plurality of sampling points to be deleted in the discrete map;

[0031] Determining the remaining sampling points in the discrete map as the plurality of target sampling points.

[0032] In a possible implementation, according to the at least one ramp sampling point set, performing ramp annotation processing on the initial map, including:

[0033] In the discrete map, modifying the attribute value of each sampling point in the at least one ramp sampling point set to a ramp section point;

[0034] Updating the initial map according to the discrete map to perform ramp annotation processing on the ramp in the initial map.

[0035] In a second aspect, the present application provides a ramp annotation device, including a sampling module, a filtering module, a determining module, and a processing module, where,

[0036] The sampling module is configured to perform sampling processing on the road in the initial map to obtain a discrete map, where the discrete map includes a plurality of sampling points, and the index, coordinates, and initial pitch angle of each sampling point;

[0037] The filtering module is configured to filter the initial pitch angles of the plurality of sampling points to obtain the target pitch angle of each sampling point;

[0038] The determining module is configured to determine a plurality of target sampling points from the plurality of sampling points according to the target pitch angles of the respective sampling points, where the absolute value of the target pitch angle of the target sampling points is greater than or equal to a preset angle;

[0039] The determining module is further configured to determine at least one ramp sampling point set according to the indexes and coordinates of the sampling points in the plurality of target sampling points;

[0040] The processing module is configured to perform ramp annotation processing on the initial map according to the at least one ramp sampling point set.

[0041] In a possible implementation manner, the determining module is specifically configured to:

[0042] Perform grouping processing on the plurality of sampling points according to the indexes of the plurality of target sampling points to obtain at least one sampling point set;

[0043] Determine at least one ramp sampling point set according to the at least one sampling point set and the coordinates of the sampling points in each sampling point set.

[0044] In a possible implementation manner, the determining module is specifically configured to:

[0045] Sort the plurality of target sampling points in ascending order of indexes;

[0046] Determine the index difference between every two adjacent target sampling points;

[0047] Determine the at least one sampling point set according to the index difference between every two adjacent target sampling points. For any one sampling point set, the index difference between every two adjacent sampling points in the sampling point set is less than or equal to a preset index interval.

[0048] In a possible implementation manner, the determining module is specifically configured to:

[0049] Determine at least one selected sampling point set from the at least one sampling point set according to the number of sampling points included in each sampling point set, where the number of sampling points included in the selected sampling point set is greater than or equal to a preset number;

[0050] For any one selected sampling point set, determine the missing sampling points corresponding to the selected sampling point set and the indexes of the respective missing sampling points according to the indexes of the sampling points in the selected sampling point set;

[0051] Obtain the coordinates and target pitch angles of the respective missing sampling points according to the indexes of the respective missing sampling points;

[0052] Update the selected sampling point set according to the coordinates of each missing sampling point and the target pitch angle to obtain a ramp sampling point set corresponding to the selected sampling point set; wherein, the at least one ramp sampling point set includes ramp sampling point sets corresponding to each selected sampling point set.

[0053] In a possible implementation manner, the filtering module is specifically configured to:

[0054] Determine a plurality of first sampling points and a plurality of second sampling points among the plurality of sampling points according to the index of the sampling point, the index of the first sampling point being less than the index of the sampling point, and the index of the second sampling point being greater than the index of the sampling point;

[0055] Determine the initial pitch angle of the sampling point, the initial pitch angles of the plurality of first sampling points, and the average pitch angle of the initial pitch angles of the plurality of second sampling points;

[0056] Determine the average pitch angle as the target pitch angle of the sampling point.

[0057] In a possible implementation manner, the determining module is specifically configured to:

[0058] Determine a plurality of sampling points to be deleted among the plurality of sampling points according to the target pitch angles of the respective sampling points, the absolute value of the target pitch angle of the sampling points to be deleted being less than the preset angle;

[0059] Delete the plurality of sampling points to be deleted in the discrete map;

[0060] Determine the remaining sampling points in the discrete map as the plurality of target sampling points.

[0061] In a possible implementation manner, the processing module is specifically configured to:

[0062] In the discrete map, modify the attribute values of the sampling points in the at least one ramp sampling point set to ramp section points;

[0063] Update the initial map according to the discrete map to perform labeling processing on the ramps in the initial map.

[0064] In a third aspect, an embodiment of the present application provides a ramp labeling device, including: at least one processor and a memory; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the ramp labeling method as described in the first aspect and any possible implementation of the first aspect.

[0065] Fourthly, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the ramp annotation method as described in the first aspect and any possible related ramp annotation method in the first aspect is implemented.

[0066] Fifthly, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the ramp annotation method as described in the first aspect and any possible related ramp annotation method in the first aspect is implemented.

[0067] For the ramp annotation method, device, equipment and storage medium provided by the present application, when it is necessary to annotate a ramp, a discrete map is generated by sampling the roads in the initial map, and the coordinates and pitch angles of each sampling point can be obtained. Then, filtering processing is performed according to the pitch angles of each sampling point, and threshold screening is performed on the filtered pitch angles. While eliminating sensor errors and road surface bump interference, it effectively excludes misidentifications caused by small-range height inequalities on the road surface. Subsequently, according to the index and coordinate distribution of the target sampling points, a set of continuous ramp sampling points is determined, and the set of ramp sampling points is mapped to the initial map to generate a complete map with ramp annotations. In the above process, continuous ramp road sections can be automatically identified and annotated, providing a high-precision ramp position reference for autonomous mining vehicles and improving the accuracy of ramp annotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with the present application and used together with the description to explain the principles of the present application.

[0069] Figure 1 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0070] Figure 2 It is a schematic flowchart of a ramp annotation method provided by an embodiment of the present application;

[0071] Figure 3 It is a schematic diagram of the determination process of a set of ramp sampling points provided by an embodiment of the present application;

[0072] Figure 4 It is a schematic flowchart of another ramp annotation method provided by an embodiment of the present application;

[0073] Figure 5a It is a schematic diagram of the distribution of the initial pitch angle in a two-dimensional coordinate system provided by an embodiment of the present application;

[0074] Figure 5b It is a schematic diagram of the distribution of the target pitch angle in a two-dimensional coordinate system provided by an embodiment of the present application;

[0075] Figure 5c Schematic diagram of the curve of the initial pitch angle after threshold processing provided by the embodiment of the present application;

[0076] Figure 5d Schematic diagram of the distribution of the initial pitch angle after threshold processing provided by the embodiment of the present application in a two-dimensional coordinate system;

[0077] Figure 5e Schematic diagram of the curve of the target pitch angle of the target sampling point provided by the embodiment of the present application;

[0078] Figure 5f Schematic diagram of the distribution of the target pitch angle of the target sampling point provided by the embodiment of the present application in a two-dimensional coordinate system;

[0079] Figure 5g Schematic diagram of the curve of the target pitch angle after grouping processing provided by the embodiment of the present application;

[0080] Figure 5h Schematic diagram of the distribution of the target pitch angle after grouping processing provided by the embodiment of the present application in a two-dimensional coordinate system;

[0081] Figure 5i Schematic diagram of the curve of the target pitch angle in the selected sampling point set provided by the embodiment of the present application;

[0082] Figure 5j Schematic diagram of the distribution of the target pitch angle in the selected sampling point set provided by the embodiment of the present application in a two-dimensional coordinate system;

[0083] Figure 5k Schematic diagram of the curve of the target pitch angle in the ramp sampling point set provided by the embodiment of the present application;

[0084] Figure 5l Schematic diagram of the distribution of the target pitch angle in the ramp sampling point set provided by the embodiment of the present application in a two-dimensional coordinate system;

[0085] Figure 6 Schematic diagram of the structure of a ramp marking device provided by the embodiment of the present application;

[0086] Figure 7 Schematic diagram of the structure of a ramp marking device provided by the embodiment of the present application.

[0087] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and more detailed descriptions will be given later. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0088] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0089] It should be noted that in the embodiments of the present application, some industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be considered exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solution of the present application, but it does not mean that the applicant has already or necessarily used this solution.

[0090] For ease of understanding, the following will be combined with Figure 1 , to describe the application scenarios applicable to the embodiments of the present application.

[0091] Figure 1 The following is a schematic diagram of the application scenario provided for the embodiments of the present application. Please refer to Figure 1 , including a mine car 101 and a mine road 102.

[0092] The mine car 101 can perform ramp annotation processing on the mine road 102 to generate ramp annotation information 104. Specifically, a ramp annotation device 103 is installed in the mine car 101. When the mine car 101 is going uphill, downhill or traveling horizontally on the mine road 102, the ramp annotation device 103 can perform sampling processing according to the current driving road, obtain a plurality of sampling points, and determine a plurality of ramp sampling point sets of the mine road 102 according to the information of each sampling point, and generate ramp annotation information 104 according to the plurality of ramp sampling point sets.

[0093] In the related art, the road surface slope is usually estimated by an acceleration sensor and vehicle operation parameters. Specifically, a longitudinal acceleration sensor collects the longitudinal acceleration during the vehicle's driving process, and at the same time, a vehicle state sensor collects the vehicle's operation parameters. In this way, the slope can be estimated according to the vehicle's longitudinal acceleration and vehicle operation parameters, so as to determine the ramp position. In the above method, due to the complex mine road conditions (for example, strong turning, etc.), and the noise interference caused by the sensor due to road surface vibration, etc., the ramp information may be segmented and broken, and it is difficult to form a continuous ramp semantic map, resulting in a low accuracy of ramp annotation.

[0094] In view of the above technical problems, in the embodiments of the present application, when it is necessary to label a ramp, a discrete map is generated by sampling the roads in the initial map, and the coordinates and pitch angles of each sampling point can be obtained. Then, filtering processing is performed according to the pitch angles of each sampling point, and threshold screening is performed on the filtered pitch angles. While eliminating sensor errors and road surface bump interference, false recognition caused by small-scale height inequalities on the road surface is effectively excluded. Subsequently, according to the index and coordinate distribution of the target sampling points, a set of continuous ramp sampling points is determined, and the set of ramp sampling points is mapped to the initial map to generate a complete map with ramp labels. In the above process, continuous ramp road sections can be automatically identified and labeled, providing a relatively accurate ramp position reference for autonomous mining vehicles and improving the accuracy of ramp labeling.

[0095] The following uses specific embodiments to elaborate in detail on the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0096] Figure 2 It is a schematic flowchart of a ramp labeling method provided by an embodiment of the present application. Please refer to Figure 2 As shown, the method may include the following steps:

[0097] S201. Sample the roads in the initial map to obtain a discrete map.

[0098] Among them, the discrete map includes multiple sampling points, as well as the index, coordinates, and initial pitch angles of each sampling point.

[0099] The execution subject of the embodiment of the present application may be a vehicle or a ramp labeling device provided in the vehicle. The ramp labeling device may be implemented by software or by a combination of software and hardware.

[0100] The initial map is used to provide the historical driving trajectory of the vehicle. Among them, the initial map is continuous in the time dimension.

[0101] A combined positioning device may be set in the vehicle, and the combined positioning device is used to collect the driving information of the vehicle. For example, the driving information of the vehicle may be the spatial coordinates, pitch angle, etc. of the vehicle.

[0102] It should be noted that the combined positioning device may include the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS), the Inertia Navigation System (INS), and combinations of multiple navigation and positioning systems. The embodiments of the present application do not limit this.

[0103] In the actual application process, the historical driving trajectory can be determined based on the actual driving paths of the driver's multiple experienced drives. Specifically, the vehicle can determine the repeated driving route based on the driver's familiarity with the road conditions (such as slope changes, obstacle positions, etc.), and determine the repeated driving route as the vehicle's historical driving trajectory. At the same time, the combined positioning device in the vehicle can record the trajectory data in real time (such as the vehicle's coordinates, pitch angle, etc.).

[0104] In the embodiments of the present application, the initial map includes at least one historical driving trajectory, and each historical driving trajectory can include the vehicle driving information at multiple sampling moments.

[0105] Sampling processing refers to extracting sampling points from the initial map according to a preset sampling interval to generate a discrete map.

[0106] Optionally, the preset sampling interval and the number of sampling points can be determined according to the actual situation. Specifically, if there are various complex road conditions (such as sharp turns, etc.) in the current driving trajectory, the preset sampling interval can be reduced to increase the number of sampling points. For example, the preset sampling interval can be 0.1 m.

[0107] It should be noted that if the initial map includes the historical driving trajectories of multiple vehicles, when performing sampling processing on the historical driving trajectories, it can be executed sequentially or in parallel. The embodiments of the present application do not limit this.

[0108] A discrete map refers to a discretized initial map. The discrete map is discrete in the time dimension and consists of a series of discrete sampling points sampled sequentially or in parallel. Among them, each sampling point contains a unique index, geographical coordinates (such as horizontal and vertical coordinates), and the corresponding initial pitch angle data.

[0109] The index is used to indicate the order of each sampling point in the discrete map. For example, assuming the index of a sampling point in the discrete map is N, then this sampling point is the Nth sampling point along the vehicle driving trajectory.

[0110] The coordinates are used to represent the geographical location information of the vehicle during driving.

[0111] The initial pitch angle refers to the degree of front - rear tilt of the vehicle at the current moment. Among them, the initial pitch angle includes a positive pitch angle, a zero pitch angle, and a negative pitch angle. The positive pitch angle is used to indicate that the current vehicle is in an uphill state, the negative pitch angle is used to indicate that the current vehicle is in a downhill state, and the zero pitch angle is used to indicate that the current vehicle is in a horizontal driving state.

[0112] S202. Filter the initial pitch angles of multiple sampling points to obtain the target pitch angles of each sampling point.

[0113] The target pitch angle refers to the initial pitch angle after filtering.

[0114] In the embodiment of the present application, the mean - filtering method can be used to filter the initial pitch angles of multiple sampling points. Specifically, according to the preset filtering length, the average value of the initial pitch angles of the current sampling point and the sampling points within the filtering length on both sides is calculated to obtain the target pitch angle of each sampling point.

[0115] In the actual application process, if the current sampling point is the first sampling point or the last sampling point, the target pitch angle of the current sampling point can be determined according to the pitch angles of the current sampling point and the sampling points within the unilateral filtering length.

[0116] For example, assume that the preset filtering length is 1, there are 3 sampling points in total, namely A, B, and C, and the corresponding initial pitch angles are 5 degrees, 10 degrees, and 5 degrees respectively. Then the target pitch angle of sampling point A is 7.5 degrees, the target pitch angle of sampling point B is 10 degrees, and the target pitch angle of sampling point C is 7.5 degrees.

[0117] S203. Determine multiple target sampling points among multiple sampling points according to the target pitch angles of each sampling point.

[0118] Among them, the absolute value of the target pitch angle of the target sampling point is greater than or equal to the preset angle.

[0119] The multiple target sampling points can be determined in the following way: determine the preset angle; according to the target pitch angles of each sampling point, determine the absolute value of the target pitch angle; according to the absolute value of the target pitch angle of each sampling point and the preset angle, judge whether the absolute value of the target pitch angle of the current sampling point is greater than or equal to the preset angle, and determine the current sampling point as the target sampling point, and so on; retain the sampling points that meet the judgment conditions in the discrete map and delete the sampling points less than the preset angle.

[0120] For example, assume that there are 3 sampling points in total, namely sampling point A, sampling point B, and sampling point C. The target pitch angle of sampling point A is 10 degrees, the target pitch angle of sampling point B is - 20 degrees, the target pitch angle of sampling point C is 18 degrees, and the preset angle is 15 degrees. Then sampling point A and sampling point B can be determined as the target sampling points.

[0121] In the actual application process, the preset angle can be determined according to the actual situation. For example, the size of the preset angle can be determined according to factors such as the climbing ability and driving safety of the vehicle.

[0122] S204. Determine at least one ramp sampling point set according to the indexes and coordinates of each sampling point among multiple target sampling points.

[0123] The ramp sampling point set is used to represent the set composed of target sampling points on the same ramp section.

[0124] At least one ramp sampling point set can be determined in the following way: Group the multiple sampling points according to the indexes of the multiple target sampling points to obtain at least one sampling point set; Determine at least one ramp sampling point set according to at least one sampling point set and the coordinates of the sampling points in each sampling point set.

[0125] At least one sampling point set can be determined in the following way: Determine a preset threshold; Judge whether the index difference between the current target sampling point and the previous target sampling point is less than the preset threshold. If the index difference is less than the preset threshold, it indicates that the current target sampling point and the previous target sampling point belong to the same ramp sampling point set, and then add the current target sampling point to the current ramp sampling point set; If the index difference is greater than or equal to the preset threshold, it indicates that the current target sampling point and the previous target sampling point do not belong to the same ramp sampling point set, and then classify the current target sampling point into the next ramp sampling point set.

[0126] The ramp sampling point set refers to the set composed of target sampling points on the ramp section.

[0127] S205. Perform ramp annotation processing on the initial map according to at least one ramp sampling point set.

[0128] The ramp annotation processing refers to performing attribute annotation on the sampling points in the ramp sampling point set.

[0129] The attribute refers to the road section type corresponding to the current sampling point. For example, the road section type can include a flat road section type and a ramp road section type.

[0130] In the embodiment of the present application, when it is necessary to mark a ramp, a discrete map is generated by sampling the roads in the initial map, and the coordinates and pitch angles of each sampling point can be obtained. Then, filtering processing is performed according to the pitch angles of each sampling point, and threshold screening is performed on the filtered pitch angles. While eliminating sensor errors and road surface bump interference, it effectively excludes misidentifications caused by small-scale height inequalities on the road surface. Subsequently, according to the index and coordinate distribution of the target sampling points, a set of continuous ramp sampling points is determined, and the set of ramp sampling points is mapped to the initial map to generate a complete map with ramp markings. In the above process, continuous ramp sections can be automatically identified and marked, providing a relatively accurate ramp position reference for autonomous mining vehicles and improving the accuracy of ramp marking.

[0131] Based on any one of the above embodiments, below, in combination with Figure 3 , the determination process of the set of ramp sampling points ( Figure 2 S204 in the embodiment) will be described in detail.

[0132] Figure 3 FIG. is a schematic diagram of the determination process of the set of ramp sampling points provided by the embodiment of the present application. Please refer to Figure 3 , the method may include:

[0133] S301. Sort the multiple target sampling points in ascending order of the index.

[0134] S302. Determine the index difference between every two adjacent target sampling points.

[0135] The index difference refers to the number of indices between adjacent target sampling points.

[0136] For example, assume the index of sampling point A is 5 and the index of adjacent sampling point B is 10. Then the index difference between sampling point A and sampling point B is 4, that is, the sampling points with indices 6, 7, 8, and 9.

[0137] S303. Determine at least one set of sampling points according to the index difference between every two adjacent target sampling points.

[0138] Among them, for any set of sampling points, the index difference between every two adjacent sampling points in the set of sampling points is less than or equal to a preset index interval.

[0139] The preset index interval refers to the index difference between adjacent target sampling points set in advance. For example, assume the preset index interval is 5, and the index difference between the current target sampling point and the previous target sampling point is 2. Then these two target sampling points are grouped into the same set of sampling points.

[0140] S304. Determine at least one selected sampling point set from at least one sampling point set according to the number of sampling points included in each sampling point set.

[0141] Among them, the number of sampling points included in the selected sampling point set is greater than or equal to a preset number.

[0142] If the number of sampling points included in the sampling point set is greater than or equal to the preset number, it indicates that the current sampling point set is in the state of a slope road section, then determine the current sampling point set as the selected sampling point set; if the number of sampling points included in the sampling point set is less than the preset number, it indicates that the current sampling point set is in the state of a non-slope road section, then delete the current sampling point set from the discrete map.

[0143] For example, assume that there are two sampling point sets, namely sampling point set A, sampling point set B, and sampling point set C. Among them, sampling point set A includes 5 sampling points, sampling point set B includes 20 sampling points, sampling point C includes 10 sampling points, and the preset number is 10. Then determine sampling point set B and sampling point set C as the selected sampling point sets.

[0144] S305. For any selected sampling point set, determine the missing sampling points corresponding to the selected sampling point set and the indices of each missing sampling point according to the indices of the sampling points in the selected sampling point set.

[0145] The missing sampling points and corresponding indices can be determined in the following way: for any selected sampling point set, in the order of the indices from small to large, successively determine whether the index difference between adjacent sampling points is equal to zero. If the index difference is equal to zero, there is no missing sampling point between the adjacent sampling points. If the index difference is not equal to zero, the index between the adjacent sampling points can be determined as the index of the missing sampling point, and the corresponding sampling point is the missing sampling point.

[0146] For example, assume that in a selected sampling point set, the index of sampling point A is 109, the index of the adjacent sampling point B is 112, and the index difference between sampling point A and sampling point B is 2 (not equal to zero). Then there are missing sampling points in this selected sampling point set, and the number of missing sampling points is 2, and the corresponding indices are 110 and 111 respectively.

[0147] S306. Obtain the coordinates and target pitch angles of each missing sampling point according to the indices of each missing sampling point.

[0148] The coordinates of the missing sampling points and the target pitch value can be obtained in the following manner: determine the selected sampling point set where the missing sampling points are located, as well as the index of the first missing sampling point and the index of the last missing sampling point in the selected sampling point set; based on the index of the first missing sampling point and the index of the last missing sampling point, determine at least one corresponding sampling point in the discrete map to obtain the coordinates of the missing sampling points and the target pitch value.

[0149] In the actual application process, the coordinates of each missing sampling point and the target pitch angle can be obtained according to the driving information of the vehicle included in the discrete map.

[0150] S307. Update the selected sampling point set according to the coordinates of each missing sampling point and the target pitch angle to obtain the ramp sampling point set corresponding to the selected sampling point set.

[0151] Among them, at least one ramp sampling point set includes the ramp sampling point sets corresponding to each selected sampling point set.

[0152] In the embodiment of the present application, first, the target sampling points are sorted in index order, and the index difference between adjacent points is calculated. The sampling point set with a smaller distance between adjacent points is filtered out through a preset index interval to ensure that the sampling points within the same set are continuous in physical space. Subsequently, short segments with insufficient points are filtered out according to the preset quantity, and for the blank areas caused by the missing sampling points in the selected sampling point set, the coordinates and pitch angles are complemented from the discrete map according to the indexes of the missing points to restore the integrity of the ramp segment. In the above process, the problem of ramp breakage caused by local missing can be effectively repaired, providing a high-precision ramp position reference for the autonomous mining vehicle and improving the accuracy of ramp annotation.

[0153] Based on any of the above embodiments, below, in combination with Figure 3 , the ramp annotation method will be described in detail.

[0154] Figure 4 FIG. is a schematic flowchart of another ramp annotation method provided by an embodiment of the present application. Please refer to Figure 4 , this method may include:

[0155] S401. Perform sampling processing on the roads in the initial map to obtain a discrete map.

[0156] Among them, the discrete map includes multiple sampling points, as well as the indexes, coordinates, and initial pitch angles of each sampling point.

[0157] It should be noted that the execution process of the above S401 can refer to S201, and details will not be described here again.

[0158] S402. Determine a plurality of first sampling points and a plurality of second sampling points among the multiple sampling points according to the index of the sampling point.

[0159] Among them, the index of the first sampling point is less than the index of the sampling point, and the index of the second sampling point is greater than the index of the sampling point.

[0160] The number of the first sampling point and the second sampling point can be determined by a preset unilateral filtering length.

[0161] The first sampling point refers to the point whose index is less than the index of the sampling point within the preset unilateral filtering length.

[0162] The second sampling point refers to the point whose index is greater than the index of the sampling point within the preset unilateral filtering length.

[0163] For example, assuming that the preset unilateral filtering length is 5 and the index of the current sampling point is 10, the indexes of the first sampling points are 5, 6, 7, 8, and 9 respectively, and the indexes of the second sampling points are 11, 12, 13, 14, and 15 respectively.

[0164] S403. Determine the initial pitch angle of the sampling point, the initial pitch angles of the multiple first sampling points, and the average pitch angle of the initial pitch angles of the multiple second sampling points.

[0165] The average pitch angle can be obtained by summing and averaging the initial pitch angles of the sampling point, the multiple first sampling points, and the multiple second sampling points.

[0166] S404. Determine the average pitch angle as the target pitch angle of the sampling point.

[0167] The target pitch angle is used to represent the pitch angle of the filtered sampling point.

[0168] S405. Determine a plurality of sampling points to be deleted among the multiple sampling points according to the target pitch angle of each sampling point.

[0169] Among them, the absolute value of the target pitch angle of the sampling point to be deleted is less than the preset angle.

[0170] S406. Delete the plurality of sampling points to be deleted in the discrete map.

[0171] S407. Determine the remaining sampling points in the discrete map as a plurality of target sampling points.

[0172] S408. Determine at least one ramp sampling point set according to the indexes and coordinates of each sampling point among the multiple target sampling points.

[0173] It should be noted that the execution processes of the above S405 - S408 can refer to S203 - S204, which will not be elaborated here.

[0174] S409. In the discrete map, modify the attribute values of the sampling points in at least one ramp sampling point set to ramp road segment points.

[0175] The ramp road segment points are used to indicate that the current sampling point is on a ramp road segment.

[0176] S410. Update the initial map according to the discrete map to label the ramps in the initial map.

[0177] In the actual application process, the initial map can be updated periodically to ensure that the ramp labels in the initial map can be adjusted and optimized according to the changes in the actual road conditions, improving the accuracy of the ramp labels.

[0178] The ramp labeling method provided by the embodiments of this application can execute the technical solutions shown in the above method embodiments, and its implementation principle and beneficial effects are similar, so they will not be elaborated here.

[0179] Next, in combination with Figure 5a —5l, the process of ramp labeling will be described.

[0180] Figure 5a This is a schematic diagram of the distribution of the initial pitch angle in the two-dimensional coordinate system provided by the embodiments of this application. Please refer to Figure 5a , it can be obtained that in the discrete map of the embodiments of this application, the number of sampling points with an initial pitch angle greater than 0 (blue in color) is relatively large, that is, the proportion of sampling points on the uphill is relatively large.

[0181] Figure 5b This is a schematic diagram of the distribution of the target pitch angle in the two-dimensional coordinate system provided by the embodiments of this application. Please refer to Figure 5b , it can be obtained that the discrete path formed by the sampling points after filtering processing is compared with Figure 5a , making the transition between sampling points more natural and significantly improving the smoothness of the pitch angle data.

[0182] Figure 5c This is a schematic diagram of the curve of the initial pitch angle after threshold processing provided by the embodiments of this application, Figure 5d This is a schematic diagram of the distribution of the initial pitch angle after threshold processing in the two-dimensional coordinate system provided by the embodiments of this application. It can be obtained that Figure 5c and Figure 5d record the pitch angle curve and the distribution in the two-dimensional coordinate system without filtering processing (only processed according to the preset angle). Please refer to Figure 5c , the horizontal axis represents the sampling point order, the vertical axis represents the pitch angle value, the preset angle is 2.5 degrees, and the red part represents the sampling points with a pitch angle greater than or equal to the preset angle. Please refer to Figure 5d , take Figure 5cThe sampling points in the red part are processed according to the corresponding coordinates, forming multiple red road segments in the discrete map.

[0183] Figure 5e It is a schematic diagram of the target pitch angle curve of the target sampling points provided by the embodiment of the present application. Figure 5f It is a schematic diagram of the distribution of the target pitch angle of the target sampling points provided by the embodiment of the present application in a two-dimensional coordinate system. Please refer to Figure 5e and Figure 5f , where Figure 5e the horizontal axis represents the sampling point order, the vertical axis represents the pitch angle value, and the preset angle is 2.5 degrees. In the embodiment of the present application, by performing filtering processing and threshold processing on the initial pitch angles of the sampling points in the discrete map, the target sampling points ( Figure 5e and Figure 5f the blue part in) are determined. While performing smoothing processing, noise interference is effectively eliminated.

[0184] Figure 5g It is a schematic diagram of the curve of the target pitch angle after grouping processing provided by the embodiment of the present application. Figure 5h It is a schematic diagram of the distribution of the target pitch angle after grouping processing provided by the embodiment of the present application in a two-dimensional coordinate system. Please refer to Figure 5g and Figure 5h , where Figure 5g the horizontal axis represents the sampling point order, and the vertical axis represents the pitch angle value. It can be obtained that Figure 5g and Figure 5h the point sets composed of sampling points of different colors in represent different slope road segments. In the embodiment of the present application, by the index difference between adjacent sampling points and the preset index interval, the sampling points are grouped, and the continuous slope road segments that meet the requirements are effectively screened out.

[0185] Figure 5i It is a schematic diagram of the curve of the target pitch angle in the selected sampling point set provided by the embodiment of the present application. Figure 5j It is a schematic diagram of the distribution of the target pitch angle in the selected sampling point set provided by the embodiment of the present application in a two-dimensional coordinate system. Please refer to Figure 5i and Figure 5j , where Figure 5i the horizontal axis represents the sampling point order, the vertical axis represents the pitch angle value, and the sampling point sets of different colors represent different slope road segments. It can be obtained that Figure 5j compared with Figure 5h , the slope road segments with a small number of sampling points are filtered out (for example, Figure 5h the green area road segment near the starting point in). In the embodiment of the present application, by presetting a quantity to process each sampling point set, the selected sampling point set that meets the requirements, that is, the slope road segment, is obtained, effectively excluding the wrong road segments caused by small-range unevenness or temporary obstacles on the road surface.

[0186] Figure 5k It is a schematic curve diagram of the target pitch angle in the ramp sampling point set provided by the embodiment of the present application. Figure 5l It is a schematic distribution diagram of the target pitch angle in the ramp sampling point set provided by the embodiment of the present application in a two-dimensional coordinate system. Please refer to Figure 5k and Figure 5l , wherein, Figure 5k in the horizontal axis represents the sampling point order, the vertical axis represents the pitch angle value, and the sampling point sets of different colors represent different ramp road sections. It can be obtained that Figure 5l Compared with Figure 5j , the blank areas in the ramp road sections of different colors can be filled (for example, updating the brown ramp road section in Figure 5j to the green ramp road section in Figure 5l ). In the embodiment of the present application, by updating the missing sampling points in the selected sampling point set, complete ramp road section points are obtained, effectively solving the problem of ramp breakage.

[0187] In the embodiment of the present application, in a discrete map with a sampling interval of 0.1 meter, by adopting the above-mentioned ramp annotation method to identify the ramp road section, the accuracy rate of ramp identification can be obtained as 100%, that is, the ramp road section marked in the embodiment of the present application is consistent with the actual ramp road section, improving the accuracy of ramp annotation.

[0188] It should be noted that the above only schematically shows the process of ramp annotation in the form of examples, and is not a limitation on the process of ramp annotation.

[0189] Figure 6 It is a schematic structural diagram of a ramp annotation device provided by the embodiment of the present application. Please refer to Figure 6 , the ramp annotation device 10 includes: a sampling module 11, a filtering module 12, a determination module 13, and a processing module 14, wherein,

[0190] The sampling module 11 is used to perform sampling processing on the road in the initial map to obtain a discrete map, and the discrete map includes a plurality of sampling points, as well as the index, coordinates, and initial pitch angle of each sampling point;

[0191] The filtering module 12 is used to perform filtering processing on the initial pitch angles of the plurality of sampling points to obtain the target pitch angle of each sampling point;

[0192] The determination module 13 is used to determine a plurality of target sampling points from the plurality of sampling points according to the target pitch angle of each sampling point, and the absolute value of the target pitch angle of the target sampling point is greater than or equal to a preset angle;

[0193] The determining module 13 is further configured to determine at least one ramp sampling point set according to the indexes and coordinates of the sampling points in the multiple target sampling points;

[0194] The processing module 14 is configured to perform ramp annotation processing on the initial map according to the at least one ramp sampling point set.

[0195] In a possible implementation manner, the determining module 13 is specifically configured to:

[0196] Perform grouping processing on the multiple sampling points according to the indexes of the multiple target sampling points to obtain at least one sampling point set;

[0197] Determine at least one ramp sampling point set according to the at least one sampling point set and the coordinates of the sampling points in each sampling point set.

[0198] In a possible implementation manner, the determining module 13 is specifically configured to:

[0199] Sort the multiple target sampling points in ascending order of indexes;

[0200] Determine the index difference between every two adjacent target sampling points;

[0201] Determine the at least one sampling point set according to the index difference between every two adjacent target sampling points. For any one sampling point set, the index difference between every two adjacent sampling points in the sampling point set is less than or equal to a preset index interval.

[0202] In a possible implementation manner, the determining module 13 is specifically configured to:

[0203] Determine at least one selected sampling point set from the at least one sampling point set according to the number of sampling points included in each sampling point set, where the number of sampling points included in the selected sampling point set is greater than or equal to a preset number;

[0204] For any one selected sampling point set, determine the missing sampling points corresponding to the selected sampling point set and the indexes of each missing sampling point according to the indexes of the sampling points in the selected sampling point set;

[0205] Obtain the coordinates and target pitch angles of each missing sampling point according to the indexes of each missing sampling point;

[0206] Update the selected sampling point set according to the coordinates and target pitch angles of each missing sampling point to obtain the ramp sampling point set corresponding to the selected sampling point set; where the at least one ramp sampling point set includes the ramp sampling point sets corresponding to each selected sampling point set.

[0207] In a possible implementation, the filtering module 12 is specifically configured to:

[0208] Determine a plurality of first sampling points and a plurality of second sampling points among the plurality of sampling points according to the index of the sampling point, where the index of the first sampling point is less than the index of the sampling point, and the index of the second sampling point is greater than the index of the sampling point;

[0209] Determine the initial pitch angle of the sampling point, the initial pitch angles of the plurality of first sampling points, and the average pitch angle of the initial pitch angles of the plurality of second sampling points;

[0210] Determine the average pitch angle as the target pitch angle of the sampling point.

[0211] In a possible implementation, the determination module 13 is specifically configured to:

[0212] Determine a plurality of sampling points to be deleted among the plurality of sampling points according to the target pitch angle of each sampling point, where the absolute value of the target pitch angle of the sampling point to be deleted is less than the preset angle;

[0213] Delete the plurality of sampling points to be deleted in the discrete map;

[0214] Determine the remaining sampling points in the discrete map as the plurality of target sampling points.

[0215] In a possible implementation, the processing module 14 is specifically configured to:

[0216] In the discrete map, modify the attribute value of each sampling point in the at least one ramp sampling point set to a ramp section point;

[0217] Update the initial map according to the discrete map to perform labeling processing on the ramps in the initial map.

[0218] Figure 7 This is a schematic structural diagram of the ramp labeling device provided by the embodiments of the present application. As Figure 7 shown, the electronic device 20 may include: a transceiver 21, a processor 22, and a memory 23.

[0219] The processor 22 executes the computer execution instructions stored in the memory, so that the processor 22 executes the solutions in the above embodiments. The processor 22 may be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it may also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field-programmable gate array FPGA, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0220] The memory 23 is connected to the processor 22 through the system bus and completes the communication therebetween. The memory 23 is used to store computer program instructions.

[0221] The transceiver 21 can be used to obtain the task to be run and the configuration information of the task to be run.

[0222] The system bus can be a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The transceiver is used to implement the communication between the database access device and other computers (such as clients, read-write libraries, and read-only libraries). The memory may include a random access memory (RAM), and may also include a non-volatile memory.

[0223] An embodiment of the present application further provides a chip for running instructions. The chip is used to execute the technical solution of the ramp marking method in the above embodiment.

[0224] An embodiment of the present application further provides a computer-readable storage medium. Computer instructions are stored in the computer-readable storage medium. When the computer instructions run on a computer, the computer is enabled to execute the technical solution of the ramp marking method in the above embodiment.

[0225] An embodiment of the present application further provides a computer program product. The computer program product includes a computer program, which is stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the technical solution of the ramp marking method in the above embodiment can be implemented.

[0226] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be in an electrical, mechanical or other form.

[0227] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected according to actual needs to implement the solution of this embodiment.

[0228] In addition, the functional modules in each embodiment of this application can be integrated in a processing unit, or each module can exist physically alone, or two or more modules can be integrated in one unit. The units formed by the above modules can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0229] The integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above software functional modules are stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods in each embodiment of this application.

[0230] It should be understood that the above processor can be a Central Processing Unit (abbreviated as CPU), and can also be other general-purpose processors, Digital Signal Processors (abbreviated as DSP), Application Specific Integrated Circuits (abbreviated as ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by the execution of the hardware processor, or can be implemented by the combination of the hardware and software modules in the processor.

[0231] The memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one disk memory, and can also be a USB flash drive, a mobile hard disk, a read-only memory, a disk, or an optical disc, etc.

[0232] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience in representation, the buses in the attached drawings of this application are not limited to only one bus or one type of bus.

[0233] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disc. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0234] An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic control unit or a master control device.

[0235] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disks, or optical discs.

[0236] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A ramp marking method, characterized in that, Including: Sampling the roads in the initial map to obtain a discrete map, where the discrete map includes multiple sampling points, as well as the indices, coordinates, and initial pitch angles of each sampling point; Filtering the initial pitch angles of the multiple sampling points to obtain the target pitch angles of each sampling point; Determining multiple target sampling points from the multiple sampling points according to the target pitch angles of each sampling point, where the absolute value of the target pitch angle of the target sampling point is greater than or equal to a preset angle; Determining at least one ramp sampling point set according to the indices and coordinates of each sampling point in the multiple target sampling points; Performing ramp annotation processing on the initial map according to the at least one ramp sampling point set.

2. The method according to claim 1, characterized in that Determining at least one ramp sampling point set according to the indices and coordinates of each sampling point in the multiple target sampling points, including: Grouping the multiple sampling points according to the indices of the multiple target sampling points to obtain at least one sampling point set; Determining at least one ramp sampling point set according to the at least one sampling point set and the coordinates of the sampling points in each sampling point set.

3. The method according to claim 2, wherein Grouping the multiple sampling points according to the indices of the multiple target sampling points to obtain at least one sampling point set, including: Sorting the multiple target sampling points in ascending order of indices; Determining the index difference between every two adjacent target sampling points; Determining the at least one sampling point set according to the index difference between every two adjacent target sampling points. For any one sampling point set, the index difference between every two adjacent sampling points in the sampling point set is less than or equal to a preset index interval.

4. The method according to claim 2 or 3, characterized in that, Determining at least one ramp sampling point set according to the at least one sampling point set and the coordinates of the sampling points in each sampling point set, including: Determining at least one selected sampling point set from the at least one sampling point set according to the number of sampling points included in each sampling point set, where the number of sampling points included in the selected sampling point set is greater than or equal to a preset number; For any one selected sampling point set, determining the missing sampling points corresponding to the selected sampling point set and the indices of each missing sampling point according to the indices of the sampling points in the selected sampling point set; Obtaining the coordinates and target pitch angles of each missing sampling point according to the indices of each missing sampling point; Updating the selected sampling point set according to the coordinates and target pitch angles of each missing sampling point to obtain the ramp sampling point set corresponding to the selected sampling point set; where the at least one ramp sampling point set includes the ramp sampling point sets corresponding to each selected sampling point set.

5. The method according to any one of claims 1-4, characterized in that, For any one sampling point, filtering the initial pitch angle of the sampling point to obtain the target pitch angle of the sampling point, including: Determining multiple first sampling points and multiple second sampling points from the multiple sampling points according to the index of the sampling point, where the index of the first sampling point is less than the index of the sampling point, and the index of the second sampling point is greater than the index of the sampling point; Determine the initial pitch angle of the sampling point, the initial pitch angles of the multiple first sampling points, and the average pitch angle of the initial pitch angles of the multiple second sampling points; Determine the average pitch angle as the target pitch angle of the sampling point.

6. The method according to any one of claims 1-5, characterized in that, According to the target pitch angles of each sampling point, determine multiple target sampling points among the multiple sampling points, including: According to the target pitch angles of each sampling point, determine multiple sampling points to be deleted among the multiple sampling points, where the absolute value of the target pitch angle of the sampling point to be deleted is less than the preset angle; Delete the multiple sampling points to be deleted in the discrete map; Determine the remaining sampling points in the discrete map as the multiple target sampling points.

7. The method according to any one of claims 1-6, characterized in that, According to the at least one ramp sampling point set, perform ramp annotation processing on the initial map, including: In the discrete map, modify the attribute value of each sampling point in the at least one ramp sampling point set to a ramp section point; Update the initial map according to the discrete map to perform ramp annotation processing on the ramp in the initial map.

8. A ramp marking device, characterized in that, Include: A sampling module, a filtering module, a determination module, and a processing module, where: The sampling module is used to perform sampling processing on the road in the initial map to obtain a discrete map, where the discrete map includes multiple sampling points, and the index, coordinates, and initial pitch angle of each sampling point; The filtering module is used to perform filtering processing on the initial pitch angles of the multiple sampling points to obtain the target pitch angle of each sampling point; The determination module is used to determine multiple target sampling points among the multiple sampling points according to the target pitch angles of each sampling point, where the absolute value of the target pitch angle of the target sampling point is greater than or equal to the preset angle; The determination module is further used to determine at least one ramp sampling point set according to the index and coordinates of each sampling point among the multiple target sampling points; The processing module is used to perform ramp annotation processing on the initial map according to the at least one ramp sampling point set.

9. A ramp marking device, characterized in that, Include: A processor, and a memory communicatively connected to the processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory to implement the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by the processor, they are used to implement the method according to any one of claims 1-7.

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