Terrain model updating method, vehicle control method and vehicle

Abstract

The invention provides a terrain model updating method, a method for controlling a carrier and a vehicle, and relates to the field of intelligent mines and the field of mine monitoring and management. The method comprises the steps that a track comparison result between an actual driving track and a planned driving track of a carrier is obtained, the planned driving track represents a preset driving track of the carrier in a working environment, and the actual driving track represents the driving position of the carrier in the working environment; on the basis of the track comparison result, a terrain updating message is generated, and the terrain updating message indicates a target area where terrain changes occur in the working environment; a terrain updating message is sent to the target carrier, and the target carrier carries out terrain data acquisition on the target area based on the terrain updating message to obtain area terrain data; and updating the environmental terrain model of the working environment according to the regional terrain data sent by the target carrier to obtain a target terrain model.

Description

Technical Field

[0001] The present disclosure relates to the fields of smart mines and mine monitoring and management, and more specifically, to a terrain model updating method, a vehicle control method, a vehicle, a device, an equipment, and a storage medium. Background Art

[0002] During the daily production process of open-pit mines, engineering vehicles such as mining trucks travel frequently on the roads and in the working areas, resulting in rapid changes in the terrain in the mine working environment, making it difficult to monitor and update the mine terrain in a timely manner. Summary of the Invention

[0003] In view of this, the present disclosure provides a terrain model updating method, a vehicle control method, a vehicle, a device, a equipment, and a storage medium.

[0004] One aspect of the present disclosure provides a terrain model updating method, comprising: obtaining a trajectory comparison result between an actual driving trajectory and a planned driving trajectory of a vehicle, wherein the planned driving trajectory represents a preset driving trajectory of the vehicle in an operating environment, and the actual driving trajectory represents a location that the vehicle has traveled in the operating environment; generating a terrain update message based on the trajectory comparison result, wherein the terrain update message indicates a target area where terrain changes occur in the operating environment; sending the terrain update message to a target vehicle, and the target vehicle collecting terrain data for the target area based on the terrain update message to obtain regional terrain data; and updating the environmental terrain model of the operating environment according to the regional terrain data sent from the target vehicle to obtain a target terrain model.

[0005] According to an embodiment of the present disclosure, the target vehicle performs a terrain data collection task on the target area at a first designated location related to the target area based on the first instruction information carried by the terrain update message, and ends the terrain data collection task at a second designated location related to the target area based on the second instruction information carried by the terrain update message. The terrain data collection task is related to the regional terrain data.

[0006] According to an embodiment of the present disclosure, generating a terrain update message based on a trajectory comparison result includes: in response to the trajectory comparison result indicating that at least one target trajectory point in the actual driving trajectory satisfies a preset difference condition with the planned driving trajectory, determining target area position data corresponding to the target area based on the at least one target trajectory point; determining a terrain update message based on the target area position data; preferably, the preset difference condition includes at least one of the following: a first difference condition indicating that the distance difference between the at least one target trajectory point and the planned driving trajectory is greater than or equal to a preset distance threshold; a second difference condition indicating that the curvature difference between the target curvature of the at least one target trajectory point and the at least one planned curvature of the planned driving trajectory satisfies a preset curvature difference threshold.

[0007] According to an embodiment of the present disclosure, determining target area position data corresponding to a target area based on at least one target trajectory point includes: determining a target envelope of multiple target trajectory points based on trajectory point coordinates of multiple target trajectory points; and determining the target area position data based on the target envelope.

[0008] According to an embodiment of the present disclosure, the above method also includes: determining a candidate vehicle from a plurality of vehicles in the working environment, wherein the candidate vehicle should travel through a target area according to the working task, or the candidate vehicle should travel to a data collection position that meets a preset distance condition from the target area according to the working task; and determining at least one target vehicle based on the working status of at least one candidate vehicle.

[0009] According to an embodiment of the present disclosure, determining at least one target vehicle based on the operating status of at least one candidate vehicle includes: determining a collection orientation attribute of the candidate vehicle for collecting terrain data of a target area based on the current operating driving trajectory of the candidate vehicle, wherein the operating driving trajectory represents a location that the candidate vehicle has not passed through during the execution of the operating task; and determining at least two target vehicles from multiple candidate vehicles based on difference information between the respective collection orientation attributes of multiple candidate vehicles.

[0010] According to an embodiment of the present disclosure, obtaining a trajectory comparison result between an actual driving trajectory and a planned driving trajectory of a vehicle includes: determining a first key trajectory point from the actual driving trajectory based on the positional relationship between the actual driving trajectory and the planned driving trajectory and a designated marker in the working environment, and determining a second key trajectory point from the planned driving trajectory, wherein the first key trajectory point and the second key trajectory point satisfy a preset positional relationship condition with the same designated marker; performing trajectory point difference detection on the associated first key trajectory point and the second key trajectory point to obtain key trajectory point difference information; and determining a trajectory comparison result based on at least one key trajectory point difference information.

[0011] Another aspect of the present disclosure also provides a method for controlling a vehicle, including: sending an actual driving trajectory to a server, the actual driving trajectory representing the location where the vehicle has traveled in an operating environment; receiving a terrain update message sent by the server, the terrain update message being generated based on a trajectory comparison result between the actual driving trajectory and a planned driving trajectory, the planned driving trajectory representing a preset driving trajectory of the vehicle in the operating environment, the terrain update message indicating a target area where terrain changes occur in the operating environment; collecting terrain data for the target area according to the terrain update message to obtain regional terrain data; and sending the regional terrain data to the server, wherein the server updates an environmental terrain model of the operating environment according to the regional terrain data to obtain a target terrain model.

[0012] Another aspect of the present disclosure also provides a terrain model updating device, including: an acquisition module, used to obtain a trajectory comparison result between the actual driving trajectory and the planned driving trajectory of a vehicle, wherein the planned driving trajectory represents a preset driving trajectory of the vehicle in the working environment, and the actual driving trajectory represents a location where the vehicle has traveled in the working environment; a first determination module, used to generate a terrain update message based on the trajectory comparison result, wherein the terrain update message indicates a target area where terrain changes occur in the working environment; a sending module, used to send a terrain update message to a target vehicle, and the target vehicle collects terrain data for the target area based on the terrain update message to obtain regional terrain data; and an update module, used to update the environmental terrain model of the working environment according to the regional terrain data sent from the target vehicle to obtain a target terrain model.

[0013] Another aspect of the present disclosure also provides a device for controlling a vehicle, including: an actual driving trajectory sending module, used to send the actual driving trajectory to a server, the actual driving trajectory representing the location where the vehicle has traveled in the working environment; a receiving module, used to receive a terrain update message sent by the server, the terrain update message is generated based on a trajectory comparison result between the actual driving trajectory and the planned driving trajectory, the planned driving trajectory represents a preset driving trajectory of the vehicle in the working environment, and the terrain update message indicates a target area where terrain changes occur in the working environment; a collection module, used to collect terrain data of the target area according to the terrain update message to obtain regional terrain data; and a regional terrain data sending module, used to send regional terrain data to the server, wherein the server updates an environmental terrain model of the working environment according to the regional terrain data to obtain a target terrain model.

[0014] Another aspect of the present disclosure provides a vehicle, including: a processor, a sensor, and a communication unit; the processor is configured to determine an actual driving trajectory based on driving position information, the driving position information representing the location where the vehicle has traveled in an operating environment; the communication unit is configured to send the actual driving trajectory to a server, and receive a terrain update message sent by the server; the terrain update message is generated based on a trajectory comparison result between the actual driving trajectory and a planned driving trajectory, the planned driving trajectory represents a preset driving trajectory of the vehicle in the operating environment, and the terrain update message indicates a target area where terrain changes occur in the operating environment; the sensor is configured to collect terrain data of a target area according to the target area indicated by the terrain update message to obtain regional terrain data; the communication unit is further configured to send the regional terrain data to the server, wherein the server updates an environmental terrain model of the operating environment according to the regional terrain data to obtain a target terrain model.

[0015] Another aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described above.

[0016] Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the method described above when executed.

[0017] Another aspect of the present disclosure provides a computer program product comprising computer executable instructions, which are used to implement the method described above when the instructions are executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0019] Figure 1 A diagram showing an application scenario of a terrain model updating method and device according to an embodiment of the present disclosure is shown;

[0020] Figure 2 A flowchart of a terrain model updating method according to an embodiment of the present disclosure is schematically shown;

[0021] Figure 3A Schematically shows an application scenario diagram of the terrain model updating method according to an embodiment of the present disclosure;

[0022] Figure 3B Schematically shows an application scenario diagram of a terrain model updating method according to another embodiment of the present disclosure;

[0023] Figure 4 A diagram schematically illustrates an application scenario of a terrain model updating method according to another embodiment of the present disclosure;

[0024] Figure 5 Schematically shows a flow chart of a terrain model updating method according to another embodiment of the present disclosure;

[0025] Figure 6 A flow chart schematically illustrates a method for controlling a vehicle according to an embodiment of the present disclosure;

[0026] Figure 7 A block diagram schematically illustrates a terrain model updating device according to an embodiment of the present disclosure;

[0027] Figure 8 A block diagram schematically illustrates an apparatus for controlling a vehicle according to an embodiment of the present disclosure; and

[0028] Figure 9 A block diagram of an electronic device suitable for implementing a terrain model updating method and a vehicle control method according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0029] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0030] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0031] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0032] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0033] In the embodiments of this disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of all data involved (including, but not limited to, user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures have been taken to prevent unauthorized access to user personal information data and to safeguard the security of user personal information, network security, and national security.

[0034] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0035] During the development of the present invention, the inventors discovered that the topography of open-pit mines changes frequently. Furthermore, the limited number and uneven distribution of terrain data collection tools within open-pit mine environments make it difficult to timely cover areas experiencing topographic changes. Furthermore, due to the large area of the mine's operating environment, uploading terrain data consumes a significant amount of communication resources, resulting in poor timeliness in terrain model updates, which significantly impacts the safety and efficiency of mine operations.

[0036] Embodiments of the present disclosure provide a terrain model updating method, a method for controlling a vehicle, an apparatus, a device and a storage medium, the method comprising: obtaining a trajectory comparison result between an actual driving trajectory of a vehicle and a planned driving trajectory, wherein the planned driving trajectory represents a preset driving trajectory of the vehicle in an operating environment, and the actual driving trajectory represents a location that the vehicle has traveled in the operating environment; generating a terrain update message based on the trajectory comparison result, wherein the terrain update message indicates a target area where terrain changes occur in the operating environment; sending a terrain update message to a target vehicle, and the target vehicle collects terrain data for the target area based on the terrain update message to obtain regional terrain data; and updating the environmental terrain model of the operating environment according to the regional terrain data sent from the target vehicle to obtain a target terrain model.

[0037] According to an embodiment of the present disclosure, by obtaining the trajectory mark result between the actual driving trajectory of the vehicle in the working environment and the preset driving trajectory, the target area where the terrain changes in the working environment is determined, and real-time terrain change monitoring of the working environment can be achieved based on the vehicle performing the working task in the working environment. By sending a terrain update message to the target vehicle to control the target vehicle to collect terrain data for the target area, the area range of terrain data collection can be narrowed under the condition of real-time monitoring of the terrain changes in the working environment, so that the target vehicle updates the environmental terrain data by sending regional terrain data, thereby avoiding the communication bandwidth occupation caused by uploading the full amount of terrain data, improving the construction efficiency and real-time performance of the target terrain model, and reducing the occupation of communication resources and computing resources, thereby improving the working efficiency and working safety in working environments such as mining working environments.

[0038] Figure 1 The following diagram shows an application scenario of the terrain model updating method and device according to an embodiment of the present disclosure.

[0039] like Figure 1 As shown, the application scenario 100 according to this embodiment may include vehicles 101, 102, 103, a network 104, and a server 105. The network 104 is used as a medium for providing a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired or wireless communication links or fiber optic cables.

[0040] Users can use vehicles 101, 102, 103 to interact with server 105 via network 104 to receive or send messages, etc. Vehicles 101, 102, 103 may be unmanned vehicles, or may also include vehicles driven by driver-based users.

[0041] Vehicles 101 , 102 , and 103 may be any type of vehicle with an unmanned driving function or an automatic assisted driving function, such as a truck, a car, an unmanned mining truck, and the like.

[0042] Server 105 may be a server that provides various services, such as a server that provides background management of the movement and operation status of vehicles 101, 102, and 103 (for example only). The background management server may analyze and process data such as broadcast messages received from the vehicles and provide feedback to each vehicle.

[0043] It should be noted that the terrain model updating method provided in the embodiments of the present disclosure can generally be executed by the server 105. Accordingly, the terrain model updating device provided in the embodiments of the present disclosure can generally be set in the server 105. The terrain model updating method provided in the embodiments of the present disclosure can also be executed by a server or server cluster that is different from the server 105 and can communicate with the vehicles 101, 102, 103 and / or the server 105. Accordingly, the terrain model updating device provided in the embodiments of the present disclosure can also be set in a server or server cluster that is different from the server 105 and can communicate with the vehicles 101, 102, 103 and / or the server 105.

[0044] Alternatively, the terrain model updating method provided in the embodiment of the present disclosure may also be generally executed by any one or more of the vehicles 101, 102, 103. Accordingly, the terrain model updating device provided in the embodiment of the present disclosure may generally be provided in one or more of the vehicles 101, 102, 103.

[0045] It should be understood that Figure 1 The number of vehicles, networks, and servers in the embodiment is merely illustrative. Any number of vehicles, networks, and servers may be used as needed.

[0046] Figure 2 The flowchart of the terrain model updating method according to the embodiment of the present disclosure is schematically shown.

[0047] like Figure 2 As shown, the terrain model updating method includes operations S210 to S240.

[0048] In operation S210 , a trajectory comparison result between the actual driving trajectory and the planned driving trajectory of the vehicle is obtained.

[0049] According to an embodiment of the present disclosure, the vehicle may include any type of vehicle with an automatic assisted driving function or an unmanned driving function, for example, the vehicle may be an unmanned mining truck, an unmanned truck, and the like.

[0050] In one example, the vehicle may be an unmanned mining truck that performs a task in an operating environment, which may be a mine operating environment. The task may include a mineral resource loading task, a mineral resource transportation task, and the like.

[0051] According to embodiments of the present disclosure, a planned driving trajectory represents a preset driving trajectory of a vehicle in an operating environment, while an actual driving trajectory represents the locations traveled by the vehicle in the operating environment. A vehicle can travel within the operating environment based on the planned driving trajectory to perform an operational task. However, due to obstacles, potholes, and shrinking mineral deposits that may occur on the roads of the operating environment, the actual driving position of a vehicle traveling based on the planned driving trajectory may deviate from the planned driving trajectory depending on actual road conditions and task requirements, resulting in a discrepancy between the actual driving trajectory and the planned driving trajectory.

[0052] It should be noted that the trajectory comparison result can be obtained by comparing the actual driving trajectory with the planned driving trajectory based on the cloud server that sends the terrain update message. Alternatively, the trajectory comparison result can also be obtained by comparing the actual driving trajectory with the planned driving trajectory based on the vehicle traveling along the planned driving trajectory.

[0053] In operation S220 , a terrain update message is generated based on the trajectory comparison result.

[0054] According to embodiments of the present disclosure, the trajectory comparison results can characterize any differences in trajectory point attributes, such as positional differences, driving direction differences, and curvature differences, between the actual driving trajectory and the planned driving trajectory. Based on the trajectory comparison results, the locations of areas where the vehicle deviated from the pre-planned driving trajectory due to changes in the terrain of the operating environment can be determined. Consequently, the target areas in the operating environment where terrain changes have occurred can be identified based on the locations of the areas characterized by the trajectory comparison results.

[0055] According to embodiments of the present disclosure, a terrain update message indicates a target area within an operating environment where a terrain change has occurred. For example, the terrain update message may carry location data indicating the target area, such as its coordinates and shape, within the terrain model to be updated, to accurately represent the location mapping relationship between the terrain model and the target area.

[0056] In operation S230 , a terrain update message is sent to the target vehicle.

[0057] According to an embodiment of the present disclosure, the target vehicle collects terrain data of the target area based on the terrain update message to obtain regional terrain data.

[0058] According to embodiments of the present disclosure, the target vehicle can be any type of vehicle capable of collecting terrain data, such as a terrain scanning vehicle capable of collecting terrain point cloud data. However, this is not limited to these vehicles and can also be any operational vehicle capable of collecting terrain point cloud data in an operational environment. For example, the target vehicle can be an unmanned mining vehicle equipped with terrain perception sensors such as lidar. The target vehicle can communicate and interact with a server or vehicle executing the terrain model update method provided by embodiments of the present disclosure to receive terrain update messages and collect terrain data based on the target area indicated by the terrain update message to obtain regional terrain data.

[0059] According to an embodiment of the present disclosure, regional terrain data may include any type of data representing terrain conditions, such as point cloud data, depth images, monocular images, etc. that represent the target area. The target vehicle can collect terrain data of the target area through sensors, and then transmit the collected terrain data to the server or vehicle side that executes the terrain model update method provided by the embodiment of the present disclosure. Since the regional terrain data only represents the target area, or a part of the area around the target area, the data scale of the regional terrain data is smaller than the data scale of the full amount of terrain data that represents the entire working environment, and thus the communication bandwidth occupancy in the working environment can be reduced by accurately collecting regional terrain data.

[0060] In operation S240 , the environmental terrain model of the operating environment is updated according to the regional terrain data sent from the target vehicle to obtain a target terrain model.

[0061] According to embodiments of the present disclosure, regional terrain data can be processed using a terrain model reconstruction algorithm to obtain a regional terrain model representing the target area. This regional terrain model can then be used to update the environmental terrain model, resulting in a target terrain model that accurately represents terrain changes in the operating environment in real time. The terrain model reconstruction algorithm can be, for example, a semantic segmentation algorithm, a raster resampling algorithm, or any other type of terrain reconstruction algorithm. The embodiments of the present disclosure do not limit the specific type of terrain model reconstruction algorithm.

[0062] It should be noted that the target terrain model may include a three-dimensional terrain model or a two-dimensional terrain model. The two-dimensional terrain model may be, for example, map data such as a high-precision map that represents terrain conditions such as terrain elevation data.

[0063] According to an embodiment of the present disclosure, obtaining a trajectory comparison result between an actual driving trajectory and a planned driving trajectory of a vehicle includes: determining a first key trajectory point from the actual driving trajectory and determining a second key trajectory point from the planned driving trajectory based on the positional relationship between the actual driving trajectory and the planned driving trajectory and a designated marker in the working environment; performing trajectory point difference detection on the associated first key trajectory point and the second key trajectory point to obtain key trajectory point difference information; and determining a trajectory comparison result based on at least one key trajectory point difference information.

[0064] According to an embodiment of the present disclosure, designated markers may include road signs, parking lines and other markers that will not be moved in the working environment, and may also include markers that can change in the working environment, such as ore piles. The first key trajectory point and the second key trajectory point meet the preset position relationship conditions with the same designated marker. Through the positional relationship between the actual driving trajectory and the planned driving trajectory and the designated marker, the first key trajectory point and the second key trajectory point of the actual driving trajectory and the planned driving trajectory near the designated marker in the working environment can be determined. In this way, based on the first key trajectory point and the second key trajectory point, the terrain change monitoring of the area near the designated marker in the working environment can be carried out in a timely manner, so as to timely discover the terrain changes in the target area in the working environment that affect the working efficiency and safety, and realize the timely update of the environmental terrain model by sending terrain update messages and receiving the regional terrain data sent by the target vehicle, thereby improving the accuracy of the terrain representation of the target terrain model for the working environment, and thus improving the working efficiency and safety of the vehicle in the working environment.

[0065] In one example, the designated landmark may be a mineral resource pile in a mining environment, and the first and second key trajectory points may be trajectory points that meet a preset distance condition from the coordinate area of the mineral resource pile. A trajectory comparison result is obtained by processing the first and second key trajectory points using a comparison algorithm, such as a differential algorithm. If the trajectory comparison result meets the difference condition, it can be determined that a terrain change has occurred in the mineral resource pile or in the area near the mineral resource pile. By sending a terrain update message to a target vehicle performing a mining or loading and unloading task on the mineral resource pile, the target vehicle can be controlled to collect terrain data in real time while performing the task and upload regional terrain data, thereby quickly updating a relatively accurate target terrain model during the execution of the task. This allows for path planning and task planning for a large number of unmanned vehicles performing tasks in the operating environment based on the relatively accurate, real-time target terrain model, thereby improving the vehicle's operational efficiency and safety.

[0066] According to an embodiment of the present disclosure, the target vehicle performs a terrain data collection task on the target area at a first designated location related to the target area based on the first instruction information carried by the terrain update message, and ends the terrain data collection task at a second designated location related to the target area based on the second instruction information carried by the terrain update message. The terrain data collection task is related to the regional terrain data.

[0067] According to an embodiment of the present disclosure, the first instruction information may indicate a first designated position and a second designated position. The first designated position may indicate a collection task initiation position where terrain data collection for the target area needs to be started, and the second designated position may indicate a collection task end position where terrain data collection for the target area can be ended. The target vehicle can collect relatively complete terrain data for the target area by traveling between the first designated position and the second designated position, and avoid invalid and repeated data collection, so that the collected regional terrain data can accurately characterize the terrain changes in the target area and reduce the data volume of the regional terrain data. In this way, the regional terrain data sent by the target vehicle can reduce the communication bandwidth occupied in the operating environment, and reduce the communication resource occupation on the vehicle side.

[0068] According to an embodiment of the present disclosure, generating a terrain update message based on a trajectory comparison result includes: in response to the trajectory comparison result indicating that at least one target trajectory point in the actual driving trajectory satisfies a preset difference condition with the planned driving trajectory, determining target area position data corresponding to the target area based on the at least one target trajectory point; and determining a terrain update message based on the target area position data.

[0069] According to an embodiment of the present disclosure, the target area location data may represent the location and area attributes of the target area in the environmental terrain model. The target area location data may instruct the target vehicle to identify the target area where the terrain has changed from the actual geographical area of the operating environment. For example, the target area location data may be the vertex coordinates, area boundary coordinates, or center coordinates of the target area. The embodiments of the present disclosure do not limit the specific data type of the target area location data, as long as it can indicate the location and other area attributes of the target area.

[0070] According to embodiments of the present disclosure, the target trajectory point may include any trajectory point in the actual driving trajectory, such as a first key trajectory point having a preset positional relationship with a designated landmark. However, this is not limited to the target trajectory point and may also include actual driving trajectory points specified based on other rules. For example, the target trajectory point may be the end trajectory point in the actual driving trajectory, an actual driving trajectory point with a curvature greater than a preset threshold, and so on. The embodiments of the present disclosure do not limit the specific method for setting the target trajectory point, as long as it can meet actual needs.

[0071] According to an embodiment of the present disclosure, the preset difference condition includes at least one of a first difference condition and a second difference condition.

[0072] According to an embodiment of the present disclosure, the first difference condition indicates that the distance difference between at least one target trajectory point and the planned driving trajectory is greater than or equal to a preset distance threshold. The distance difference between the target trajectory point and the planned driving trajectory is greater than or equal to the preset distance threshold, which can indicate that the actual driving trajectory deviates from the planned driving trajectory. The first difference condition may be due to the presence of potholes, obstacles, or other terrain changes in the target area, which may cause the vehicle to detour or stop while driving along the planned driving path to adapt to the terrain changes and perform the task.

[0073] Alternatively, the first difference condition may also indicate that attributes such as the position, area, and height of a marker in the working environment have changed.

[0074] In one example, the distance between the target trajectory point and the terminal planned trajectory point of the planned trajectory is greater than or equal to a preset distance threshold. Therefore, it can be determined that the actual driving trajectory is longer than the planned driving trajectory when the target trajectory point satisfies the first difference condition. In an operating environment, if the actual driving trajectory is longer than the planned driving trajectory, it can indicate that the position, shape, height, and other marker attributes related to the vehicle's operating task (such as the loading area boundary, unloading area boundary, etc.) have changed. Therefore, the first difference condition can be used to determine the target area where the terrain has changed, thereby enabling real-time terrain data collection for the target area to improve the accuracy and freshness of the target terrain model.

[0075] Figure 3A The following schematically illustrates an application scenario of a terrain model updating method according to an embodiment of the present disclosure.

[0076] like Figure 3A As shown, in this application scenario, the first vehicle 301 travels based on the planned driving trajectory 311 to perform the loading task. The first vehicle 301 travels along the actual driving trajectory 312 to perform the loading task and arrives at the ore pile D301 to load the mineral resources. The first key trajectory point includes the end trajectory point of the actual driving trajectory 312, and the second key trajectory point includes the end trajectory point of the planned driving trajectory 311. Both the first key trajectory point and the second key trajectory point meet the preset distance condition from the designated marker ore pile D301. Trajectory point difference detection is performed on the first key trajectory point and the second key trajectory point, and the key trajectory point difference information obtained can be the difference distance between the first key trajectory point and the second key trajectory point. The difference distance can indicate that the boundary of the ore pile D301 moves backward during the execution of the loading task, resulting in the actual driving trajectory being longer than the planned driving trajectory.

[0077] The difference distance is used as the trajectory comparison result, and if the difference distance satisfies a requirement greater than or equal to a preset distance threshold, a rectangular first target area Z301 of a preset size can be set based on a second key trajectory point, such as the end trajectory point of the actual driving trajectory 312, as the center point. The first target area position data is determined based on the first target area Z301, and a terrain update message is generated. This is achieved by sending a terrain update message carrying the first target area position data to the target vehicle to collect the regional terrain data of the first target area Z301, and by constructing a regional terrain model based on the regional terrain data to update the environmental terrain model. This allows the target terrain model to accurately represent the specific terrain boundary of the ore pile D301, thereby enabling the target terrain model to be used to plan the trajectory of the vehicle in the operating environment for the operating task, thereby improving the unmanned vehicle's ability to automatically approach the terrain boundary of the ore pile D301 to perform subsequent operating tasks, thereby improving operating efficiency and safety.

[0078] According to an embodiment of the present disclosure, the second difference condition represents that the target curvature of at least one target trajectory point and the curvature difference between the target curvature and at least one planned curvature of the planned driving trajectory meet a preset curvature difference threshold.

[0079] According to an embodiment of the present disclosure, the actual driving trajectory point of the actual driving trajectory may include trajectory point information such as the driving direction, driving speed, and driving curvature of the vehicle at the trajectory point. When the curvature difference between the target curvature of the target trajectory point and the planned curvature of the planned driving trajectory point meets the preset curvature difference threshold, it can indicate that the vehicle that is driving based on the planned driving trajectory control has detoured to areas with terrain changes such as obstacles and potholes in the operating environment. Therefore, the second difference condition can be used to more accurately determine the location of the area where the terrain changes in the operating environment, so as to more accurately and quickly determine the target area location data where the terrain changes through the trajectory comparison result, so as to improve the real-time and accuracy of the acquired regional terrain data, and improve the timeliness and accuracy of the target terrain model update.

[0080] Figure 3B The following schematically illustrates an application scenario of a terrain model updating method according to another embodiment of the present disclosure.

[0081] like Figure 3BAs shown, in this application scenario, the second vehicle 302 travels based on the planned driving trajectory 321 to perform the transportation task. The actual driving trajectory 322 that the second vehicle 302 travels to perform the transportation task bypasses the obstacle area D302 in the working environment. The target trajectory point in the actual driving trajectory 322 may include a trajectory point in the curve segment in the actual driving trajectory 322. The curvature difference between the target trajectory point and the planned curvature of the trajectory point in the planned driving trajectory 321 is greater than or equal to the preset curvature difference threshold, so that it can be determined that the target trajectory point meets the second difference condition. Based on the coordinate position of the target trajectory point in the actual driving trajectory 322, a second target area Z302 is generated that surrounds multiple target trajectory points, and second target area position data is generated based on the second target area Z302. By sending a terrain update message carrying the location data of the second target area to the target vehicle, the regional terrain data of the second target area Z302 is collected, and the environmental terrain model is updated by constructing a regional terrain model based on the regional terrain data. The obtained target terrain model can accurately represent the specific terrain conditions of the obstacle area D302. Therefore, the target terrain model can be used to plan the trajectory of the vehicle in the operating environment, so as to improve the unmanned vehicle's automatic detour around the obstacle area D302 to perform subsequent operating tasks, thereby improving operating efficiency and safety.

[0082] In one example, a difference algorithm can be used to process the trajectory points of the actual driving trajectory and the planned driving trajectory to obtain trajectory comparison results corresponding to multiple trajectory points. If the multiple trajectory comparison results meet a preset difference condition, the trajectory points in the actual driving trajectory can be determined as multiple target trajectory points that meet the preset difference condition.

[0083] In one example, determining the target area position data corresponding to the target area based on at least one target trajectory point can be to set a preset area shape based on the trajectory point coordinates of multiple target trajectory points that meet a preset difference condition so that the area shape surrounds the multiple target trajectory points, thereby obtaining the target area position data.

[0084] According to an embodiment of the present disclosure, determining the target area position data corresponding to the target area based on at least one target trajectory point may also include: determining the target envelope of multiple target trajectory points based on the trajectory point coordinates of multiple target trajectory points; and determining the target area position data based on the target envelope.

[0085] According to an embodiment of the present disclosure, the trajectory point coordinates of multiple target trajectory points can be processed based on an envelope algorithm to obtain a target envelope that represents the shape and area of the target area. Based on the position of the target envelope in the preset space of the environmental terrain model, the target area position data representing the terrain change can be determined from the environmental terrain model based on the target envelope. By determining the target envelope based on multiple target trajectory points that meet the preset difference conditions, the target envelope can more accurately represent the area where the vehicle deviates from the planned driving trajectory during actual driving. Then, the target area position data can be determined based on the regional position corresponding to the target envelope to accurately represent the regional attributes such as the position, area and shape of the target area where the terrain change occurs. This allows the regional terrain data collected by the target vehicle to more accurately represent the target area where the terrain change occurs, and reduces the amount of terrain data collected for areas where no terrain change occurs, reduces the amount of data redundantly collected and transmitted, improves the utilization rate of computing resources, and reduces the amount of communication bandwidth and equipment computing overhead.

[0086] According to an embodiment of the present disclosure, the terrain model updating method may further include: determining a candidate vehicle from a plurality of vehicles in the operating environment; and determining at least one target vehicle based on the operating status of at least one candidate vehicle.

[0087] According to an embodiment of the present disclosure, the candidate vehicle should travel through the target area according to the operation task, or the candidate vehicle should travel to a data collection position that meets a preset distance condition from the target area according to the operation task.

[0088] In one example, a first candidate vehicle may be traveling through a target area based on an ongoing loading mission, and a second candidate vehicle may be traveling through a data collection location that is a preset distance from the target area based on an ongoing loading mission. The preset distance may satisfy a preset distance condition, for example, the preset distance may be less than or equal to a preset distance threshold.

[0089] According to the embodiments of the present disclosure, candidate vehicles are determined by the respective operating tasks of the vehicles in the operating environment, so that the operating vehicles that are traveling in the operating environment can be used as candidates for terrain data collection for the target area. Therefore, regional terrain data collection and transmission can be achieved by utilizing the vehicles that are traveling according to the operating tasks to be performed in the process of performing the operating tasks, thereby reducing the scheduling of data collection tasks for designated terrain data collection vehicles, reducing the scheduling resources and vehicle driving resources consumed in updating the target terrain model, and improving the updating efficiency of the target terrain model.

[0090] According to an embodiment of the present disclosure, the candidate vehicles may be equipped with sensors such as lidar for sensing terrain data, and the target vehicle among the candidate vehicles may perform the terrain data collection task for the target area based on the first instruction information carried in the terrain update message.

[0091] According to an embodiment of the present disclosure, the operating status of a candidate vehicle may include the remaining fuel volume, driving speed, operating task level, distance between the planned driving trajectory and the target area, and other status data that characterizes the status that has been generated or will be generated during the candidate vehicle's execution of the operating task. Based on the operating status of at least one candidate vehicle, determining at least one target vehicle may include processing the operating status of multiple candidate vehicles based on operating status screening rules to screen out target operating states that meet the operating status screening rules. In this way, the candidate vehicle corresponding to the target operating state can be determined as the target vehicle.

[0092] In one example, based on the operating status of at least one candidate vehicle, determining at least one target vehicle can include quantifying the candidate vehicle's remaining fuel, driving speed, operating task level, and the distance between the planned driving trajectory and the target area to obtain a quantitative value representing each type of operating status, and performing a weighted average of the quantitative values of multiple types of operating status to obtain a score for the candidate vehicle. By using the scores of the candidate vehicles to filter out target vehicles, it is easy to filter out target vehicles that meet the operating status screening rules. In this way, it is possible to select target vehicles in the operating environment whose operating status meets the requirements for executing terrain data collection tasks to perform terrain data collection and transmission, thereby improving the updating efficiency of the target terrain model.

[0093] According to an embodiment of the present disclosure, determining at least one target vehicle based on the operating status of at least one candidate vehicle may also include: determining the collection orientation attribute of the candidate vehicle for collecting terrain data of the target area based on the current operating driving trajectory of the candidate vehicle; and determining at least two target vehicles from multiple candidate vehicles based on the difference information between the collection orientation attributes of each of the multiple candidate vehicles.

[0094] According to an embodiment of the present disclosure, the operating driving trajectory represents the position that the candidate vehicle has not passed through during the execution of the operating task. It can be understood that the operating driving trajectory is the trajectory point position that the candidate vehicle that performs the operating task should pass through from the specified time to the future time when the task ends. Based on the candidate vehicle's control based on the operating driving trajectory, it will pass through the target area or pass through the data collection position in the future time period. The collection direction attribute can represent the detection direction of the candidate vehicle for terrain data collection of the target area. The difference information between the collection direction attributes of multiple candidate vehicles can represent the directional difference between the detection directions of the target area of multiple candidate vehicles. For example, the difference information between the collection direction attributes can be expressed as the directional angle between two different detection directions. At least two candidate vehicles whose directional angle represented by the difference information is greater than or equal to the preset angle threshold are determined as at least two target vehicles, so as to realize the use of multiple collection directions with large differences to collect terrain data for the target area, and obtain regional terrain data with multiple different collection directions. In this way, regional terrain data from multiple acquisition directions with large differences can be fused to obtain a regional terrain model that can accurately represent the terrain conditions of the target area. The target terrain model obtained after updating the environmental terrain model based on the regional terrain model can more accurately represent the current terrain conditions of the working environment.

[0095] Figure 4 The following schematically illustrates an application scenario of a terrain model updating method according to another embodiment of the present disclosure.

[0096] like Figure 4 As shown, this application scenario may include a first candidate vehicle 401, a second candidate vehicle 402, and a third candidate vehicle 403. First candidate vehicle 401, based on the pending work task, should travel to a data collection location that meets a preset distance threshold from target area Z401. Second candidate vehicle 402 and third candidate vehicle 403, based on the pending work task, should travel through target area Z401. Based on the installation locations of the terrain data collection devices of first candidate vehicle 401, second candidate vehicle 402, and third candidate vehicle 403, the collection orientation attributes of each of first candidate vehicle 401, second candidate vehicle 402, and third candidate vehicle 403 can be determined as a first direction F401, a second direction F402, and a third direction F403, respectively. If the directional difference information between first direction F401 and third candidate vehicle 403 meets a preset directional difference threshold, first candidate vehicle 401 and third candidate vehicle 403 can be determined to be two different target vehicles. By collecting terrain data from multiple directions of the target area Z401 using the first candidate vehicle 401 and the third candidate vehicle 403 , the terrain changes of the target area Z401 can be more accurately represented, thereby improving the representation accuracy of the regional terrain data.

[0097] Figure 5 The flowchart of a terrain model updating method according to another embodiment of the present disclosure is schematically shown.

[0098] like Figure 5 As shown, the terrain model updating method of this embodiment may include operations S501 to S507.

[0099] In operation S501, the vehicle uploads the actual driving trajectory. The vehicle can be a terminal device installed on the vehicle, which includes a positioning module and a data transmission module. The positioning module can obtain the vehicle's position in real time, while the transmission module uploads the current vehicle's trajectory position and collected data to the cloud. The vehicle can obtain the actual driving trajectory by driving based on the planned driving trajectory issued by the cloud. The transmission device deployed on the vehicle uploads the vehicle's actual driving trajectory to the cloud via an interface protocol.

[0100] In operation S502, the cloud performs a comparison operation on the actual driving trajectory and the planned driving trajectory to obtain a trajectory comparison result. The cloud can parse the actual driving trajectory through the interface protocol for subsequent comparison and analysis of the actual driving trajectory and the planned driving trajectory of the vehicle.

[0101] In operation S503, the cloud generates a terrain update message based on the trajectory comparison results and sends the message to the target vehicle. After receiving the actual driving trajectory uploaded by the vehicle, the cloud preprocesses the actual driving trajectory to generate feature data for comparison operations. Then, through feature matching, differential algorithms, and information such as the timestamps of the trajectory points, the trajectory comparison results are calculated. Based on the trajectory comparison results, the target area in the operating environment where the terrain changes have occurred, as well as the target area location data of the target area, are determined. This automatically determines the expired area range of the terrain changes in the operating environment. Based on the target area location data, a terrain update message is generated and sent to the target vehicle.

[0102] In operation S504, the target vehicle determines whether it is currently located in the target area. If the determination is negative, operation S507 is executed, and the terrain data collection task is not performed. If the determination is positive, operation S505 is executed, and the terrain data collection task is performed. The target vehicle collects regional environmental terrain data and uploads the regional terrain data to the cloud.

[0103] The positioning device deployed on the target vehicle detects the target vehicle's position in real time and determines whether the target vehicle's current position is within the target terrain expiration area. If so, the data collection task is executed (e.g., executing the first instruction information) and the collected regional terrain data is uploaded to the cloud. If the target vehicle's position is not within the target terrain expiration area, the terrain data collection and upload task is not executed. This reduces the network bandwidth pressure caused by data upload, avoids invalid and duplicate data collection, saves money, and ensures the driving safety of the target vehicle with autonomous driving function.

[0104] In operation S506, the cloud automatically invokes a terrain generation algorithm based on the regional terrain data transmitted by one or more target vehicles to generate a regional terrain model. The regional terrain model is then used to update the portion of the environmental terrain model corresponding to the target area, resulting in an updated target terrain model. The updated target terrain model is stored in a terrain model library, providing visualization capabilities for the cloud-based control platform of the operational environment. This facilitates the execution of operational scenario tasks such as terrain analysis, operational task decision-making, and scheduling based on the latest target terrain model, thereby improving operational task efficiency.

[0105] It should be noted that the terrain model updating method provided in the embodiments of the present disclosure can be executed by a server, but is not limited thereto. It can also be executed by a vehicle-side device in an operating environment. Alternatively, it can be executed based on communication interaction between the vehicle-side device and the server. The embodiments of the present disclosure do not limit the specific execution device of the terrain model updating method.

[0106] Based on the terrain model updating method provided in the above embodiment, an embodiment of the present disclosure further provides a method for controlling a vehicle.

[0107] Figure 6 The flowchart of the method for controlling a vehicle according to an embodiment of the present disclosure is schematically shown.

[0108] like Figure 6 As shown, the method for controlling a vehicle in this embodiment may include operations S610 to S640.

[0109] In operation S610 , the actual driving trajectory is sent to the server.

[0110] According to an embodiment of the present disclosure, the actual driving trajectory represents the location where the vehicle has traveled in the working environment.

[0111] In operation S620, a terrain update message sent by the server is received.

[0112] According to an embodiment of the present disclosure, a terrain update message is generated based on a trajectory comparison result between an actual driving trajectory and a planned driving trajectory. The planned driving trajectory represents a preset driving trajectory of a vehicle in an operating environment. The terrain update message indicates a target area where terrain changes occur in the operating environment.

[0113] In operation S630, terrain data is collected for the target area according to the terrain update message to obtain regional terrain data.

[0114] In operation S640 , the regional terrain data is sent to the server.

[0115] According to an embodiment of the present disclosure, the server updates the environmental terrain model of the operating environment according to the regional terrain data to obtain a target terrain model.

[0116] The technical terms involved in the method for controlling a vehicle provided in the embodiment of the present disclosure include but are not limited to actual driving trajectory, planned driving trajectory, terrain update message, etc., which correspond to the terrain model updating method provided in the embodiment of the present disclosure, and the embodiment of the present disclosure will not be repeated here.

[0117] An embodiment of the present disclosure further provides a vehicle, which includes: a processor, a sensor, and a communication unit.

[0118] The processor is configured to determine an actual driving trajectory based on driving position information, where the driving position information represents a location that the vehicle has traveled in the operating environment.

[0119] The communication unit is configured to: send an actual driving trajectory to a server and receive a terrain update message sent by the server; the terrain update message is generated based on a trajectory comparison result between the actual driving trajectory and a planned driving trajectory, the planned driving trajectory represents a preset driving trajectory of the vehicle in the operating environment, and the terrain update message indicates a target area where terrain changes occur in the operating environment.

[0120] The sensor is configured to collect terrain data of a target area according to the target area indicated by the terrain update message to obtain regional terrain data.

[0121] The communication unit is further configured to send regional terrain data to the server, wherein the server updates the environmental terrain model of the operating environment according to the regional terrain data to obtain a target terrain model. Figure 7 The block diagram of the terrain model updating device according to the embodiment of the present disclosure is schematically shown.

[0122] like Figure 7 As shown, the terrain model updating device 700 includes an acquisition module 710 , a first determination module 720 , a sending module 730 and an updating module 740 .

[0123] The acquisition module 710 is used to obtain the trajectory comparison result between the actual driving trajectory of the vehicle and the planned driving trajectory, wherein the planned driving trajectory represents the preset driving trajectory of the vehicle in the working environment, and the actual driving trajectory represents the location where the vehicle has traveled in the working environment.

[0124] The first determining module 720 is configured to generate a terrain update message based on the trajectory comparison result, wherein the terrain update message indicates a target area where terrain changes occur in the operating environment.

[0125] The sending module 730 is used to send a terrain update message to the target vehicle. The target vehicle collects terrain data of the target area based on the terrain update message to obtain regional terrain data.

[0126] The updating module 740 is configured to update the environmental terrain model of the operating environment according to the regional terrain data sent from the target vehicle to obtain a target terrain model.

[0127] According to an embodiment of the present disclosure, the target vehicle performs a terrain data collection task on the target area at a first designated location related to the target area based on the first instruction information carried by the terrain update message, and ends the terrain data collection task at a second designated location related to the target area based on the second instruction information carried by the terrain update message. The terrain data collection task is related to the regional terrain data.

[0128] According to an embodiment of the present disclosure, the first determining module 720 includes: a first determining unit and a second determining unit.

[0129] The first determining unit is configured to determine target area position data corresponding to the target area based on the at least one target trajectory point in the actual driving trajectory, in response to the trajectory comparison result indicating that at least one target trajectory point in the actual driving trajectory satisfies a preset difference condition with the planned driving trajectory.

[0130] The second determining unit is configured to determine a terrain update message based on the target area location data.

[0131] According to an embodiment of the present disclosure, the preset difference conditions include at least one of the following: a first difference condition, which characterizes that the distance difference between at least one target trajectory point and the planned driving trajectory is greater than or equal to a preset distance threshold; a second difference condition, which characterizes that the target curvature of at least one target trajectory point and the curvature difference between at least one planned curvature of the planned driving trajectory meet a preset curvature difference threshold.

[0132] According to an embodiment of the present disclosure, the first determining unit includes: a first determining subunit and a second determining subunit.

[0133] The first determining subunit is configured to determine a target envelope of the plurality of target trajectory points based on the trajectory point coordinates of the plurality of target trajectory points.

[0134] The second determining subunit is configured to determine the target area position data based on the target envelope.

[0135] According to an embodiment of the present disclosure, the terrain model updating device further includes: a second determination module and a third determination module.

[0136] The second determination module is used to determine a candidate vehicle from multiple vehicles in the working environment, wherein the candidate vehicle should travel through the target area according to the working task, or the candidate vehicle should travel to a data collection position that meets a preset distance condition from the target area according to the working task.

[0137] The third determination module is used to determine at least one target vehicle based on the operating status of at least one candidate vehicle.

[0138] According to an embodiment of the present disclosure, the third determining module includes: a third determining subunit and a fourth determining subunit.

[0139] The third determination subunit is used to determine the collection direction attribute of the candidate vehicle for terrain data collection of the target area based on the current operation driving trajectory of the candidate vehicle, wherein the operation driving trajectory represents the location that the candidate vehicle has not traveled through during the execution of the operation task.

[0140] The fourth determining subunit is configured to determine at least two target vehicles from the plurality of candidate vehicles based on difference information between respective collection orientation attributes of the plurality of candidate vehicles.

[0141] According to an embodiment of the present disclosure, the acquisition module 710 includes: a key trajectory point determination unit, a detection unit, and a trajectory comparison result determination unit.

[0142] A key trajectory point determination unit is used to determine a first key trajectory point from the actual driving trajectory and a second key trajectory point from the planned driving trajectory based on the positional relationship between the actual driving trajectory and the planned driving trajectory and the designated marker in the working environment, and the first key trajectory point and the second key trajectory point meet a preset positional relationship condition with the same designated marker.

[0143] The detection unit is configured to perform trajectory point difference detection on the associated first key trajectory point and the second key trajectory point to obtain key trajectory point difference information.

[0144] The trajectory comparison result determining unit is configured to determine a trajectory comparison result based on at least one key trajectory point difference information.

[0145] An embodiment of the present disclosure also provides a device for controlling a vehicle.

[0146] Figure 8A block diagram schematically shows an apparatus for controlling a vehicle according to an embodiment of the present disclosure.

[0147] like Figure 8 As shown, the device 800 for controlling a vehicle includes: an actual driving trajectory sending module 810 , a receiving module 820 , a collection module 830 and a regional terrain data sending module 840 .

[0148] The actual driving trajectory sending module 810 is used to send the actual driving trajectory to the server. The actual driving trajectory represents the location where the vehicle has traveled in the working environment.

[0149] Receiving module 820 is used to receive a terrain update message sent by the server. The terrain update message is generated based on the trajectory comparison result between the actual driving trajectory and the planned driving trajectory. The planned driving trajectory represents the preset driving trajectory of the vehicle in the working environment. The terrain update message indicates the target area where the terrain changes in the working environment.

[0150] The collection module 830 is used to collect terrain data of the target area according to the terrain update message to obtain regional terrain data.

[0151] The regional terrain data sending module 840 is configured to send regional terrain data to the server, where the server updates the environmental terrain model of the operating environment based on the regional terrain data to obtain a target terrain model. Any multiple of the modules, units, and subunits according to the embodiments of the present disclosure, or at least part of the functionality of any multiple of them, can be implemented in a single module. Any one or more of the modules, units, and subunits according to the embodiments of the present disclosure can be implemented by splitting them into multiple modules. Any one or more of the modules, units, and subunits according to the embodiments of the present disclosure can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), system-on-chips, systems on substrates, systems on packages, application-specific integrated circuits (ASICs), or can be implemented in hardware or firmware using any other reasonable method of circuit integration or packaging, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or any suitable combination of any of these. Alternatively, one or more of the modules, units, and subunits according to the embodiments of the present disclosure can be at least partially implemented as computer program modules that, when executed, can perform the corresponding functionality.

[0152] For example, any of the acquisition module 710, the first determination module 720, the sending module 730, and the updating module 740, or the actual driving trajectory sending module 810, the receiving module 820, the acquisition module 830, and the regional terrain data sending module 840 can be combined into a single module / unit / sub-unit for implementation, or any of these modules / units / sub-units can be split into multiple modules / units / sub-units. Alternatively, at least part of the functionality of one or more of these modules / units / sub-units can be combined with at least part of the functionality of other modules / units / sub-units and implemented in a single module / unit / sub-unit. According to an embodiment of the present disclosure, at least one of the acquisition module 710, the first determination module 720, the sending module 730, and the updating module 740, or the actual driving trajectory sending module 810, the receiving module 820, the acquisition module 830, and the regional terrain data sending module 840 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented in hardware or firmware by any other reasonable means of circuit integration or packaging, or implemented in any one of the three implementation methods of software, hardware, and firmware, or any appropriate combination of any of them. Alternatively, at least one of the acquisition module 710, the first determination module 720, the sending module 730, and the updating module 740, or the actual driving trajectory sending module 810, the receiving module 820, the acquisition module 830, and the regional terrain data sending module 840 can be at least partially implemented as a computer program module, which can perform the corresponding functions when executed.

[0153] It should be noted that the terrain model updating device in the embodiment of the present disclosure corresponds to the terrain model updating method in the embodiment of the present disclosure. The description of the terrain model updating device is specifically referred to the terrain model updating method, which will not be repeated here.

[0154] Figure 9 A block diagram of an electronic device suitable for implementing a terrain model updating method and a vehicle control method according to an embodiment of the present disclosure is schematically shown. Figure 9 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0155] like Figure 9As shown, an electronic device 900 according to an embodiment of the present disclosure includes a processor 901, which can perform various appropriate actions and processes based on programs stored in a ROM (Read Only Memory) 902 or programs loaded from a storage unit 908 into a RAM (Random Access Memory) 903. The processor 901 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or related chipsets, and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 901 may also include onboard memory for caching purposes. The processor 901 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0156] Various programs and data required for the operation of the electronic device 900 are stored in the RAM 903. The processor 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. The processor 901 executes the various operations of the method flow according to the embodiment of the present disclosure by executing the programs in the ROM 902 and / or the RAM 903. It should be noted that the programs may also be stored in one or more memories other than the ROM 902 and the RAM 903. The processor 901 may also execute the various operations of the method flow according to the embodiment of the present disclosure by executing the programs stored in the one or more memories.

[0157] According to an embodiment of the present disclosure, electronic device 900 may further include an input / output (I / O) interface 905, which is also connected to bus 904. Electronic device 900 may also include one or more of the following components connected to I / O interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section 908 including a hard disk; and a communication section 909 including a network interface card such as a LAN card or modem. Communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to I / O interface 905 as needed. Removable media 911, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed in drive 910 as needed, so that computer programs read from the removable media can be installed into storage section 908 as needed.

[0158] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 909, and / or installed from the removable medium 911. When the computer program is executed by the processor 901, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0159] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not be incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, and when executed, implements the method according to the embodiments of the present disclosure.

[0160] According to embodiments of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples include, but are not limited to, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0161] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 902 and / or the RAM 903 described above and / or one or more memories other than the ROM 902 and the RAM 903 .

[0162] An embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method provided by the embodiment of the present disclosure. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the method for updating the terrain model or controlling the vehicle provided by the embodiment of the present disclosure.

[0163] When the computer program is executed by the processor 901, the above functions defined in the system / device of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0164] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal on a network medium, downloaded and installed via the communication portion 909, and / or installed from a removable medium 911. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0165] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include, but are not limited to, languages such as Java, C++, Python, "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect via the Internet).

[0166] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, as well as the combination of boxes in the block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or operations, or can be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or coupled in various ways, and all of these combinations and / or couplings fall within the scope of the present disclosure.

[0167] The above describes the embodiments of the present disclosure. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. Without departing from the scope of the present disclosure, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A terrain model updating method, comprising: Obtaining a trajectory comparison result between an actual driving trajectory of a vehicle and a planned driving trajectory, wherein the planned driving trajectory represents a preset driving trajectory of the vehicle in the operating environment, and the actual driving trajectory represents a location that the vehicle has traveled in the operating environment; generating a terrain update message based on the trajectory comparison result, wherein the terrain update message indicates a target area where terrain changes occur in the operating environment; Sending the terrain update message to a target vehicle, whereby the target vehicle collects terrain data of the target area based on the terrain update message to obtain regional terrain data; and The environmental terrain model of the operating environment is updated according to the regional terrain data sent from the target vehicle to obtain a target terrain model.

2. The method according to claim 1, wherein The target vehicle performs a terrain data collection task on the target area at a first designated location related to the target area based on the first instruction information carried by the terrain update message, and ends the terrain data collection task at a second designated location related to the target area based on the second instruction information carried by the terrain update message. The terrain data collection task is related to the terrain data of the area.

3. The method according to claim 1, wherein The generating of a terrain update message based on the trajectory comparison result includes: In response to the trajectory comparison result indicating that at least one target trajectory point in the actual driving trajectory satisfies a preset difference condition with the planned driving trajectory, determining target area position data corresponding to a target area based on the at least one target trajectory point; Determining the terrain update message based on the target area location data; Preferably, the preset difference condition includes at least one of the following: A first difference condition indicates that the distance difference between at least one of the target trajectory points and the planned driving trajectory is greater than or equal to a preset distance threshold; The second difference condition characterizes that a curvature difference between a target curvature of at least one target trajectory point and at least one planned curvature of the planned driving trajectory satisfies a preset curvature difference threshold.

4. The method according to claim 3, wherein: The determining of target area position data corresponding to the target area based on at least one target track point comprises: determining a target envelope of the plurality of target trajectory points based on the trajectory point coordinates of the plurality of target trajectory points; and The target area position data is determined based on the target envelope.

5. The method according to claim 1, wherein The method further comprises: Determining a candidate vehicle from the plurality of vehicles in the operating environment, wherein the candidate vehicle should travel through the target area according to the operating task, or the candidate vehicle should travel to a data collection position that meets a preset distance condition from the target area according to the operating task; and At least one target vehicle is determined based on the operating status of at least one candidate vehicle.

6. The method according to claim 5, wherein: The determining of at least one target vehicle based on the operating status of at least one candidate vehicle comprises: Determining a collection orientation attribute of the candidate vehicle for collecting terrain data of the target area based on the current operation driving trajectory of the candidate vehicle, wherein the operation driving trajectory represents a location that the candidate vehicle has not traveled through while performing the operation task; and At least two target vehicles are determined from the plurality of candidate vehicles based on difference information between respective collection orientation attributes of the plurality of candidate vehicles.

7. The method according to claim 1, wherein The obtaining of a trajectory comparison result between the actual driving trajectory of the vehicle and the planned driving trajectory includes: Based on the positional relationship between the actual driving trajectory and the planned driving trajectory and a designated marker in the working environment, determining a first key trajectory point from the actual driving trajectory and determining a second key trajectory point from the planned driving trajectory, wherein the first key trajectory point and the second key trajectory point satisfy a preset positional relationship condition with the same designated marker; performing trajectory point difference detection on the associated first key trajectory point and the second key trajectory point to obtain the key trajectory point difference information; and The trajectory comparison result is determined based on at least one of the key trajectory point difference information.

8. A method for controlling a vehicle, comprising: Sending an actual driving trajectory to a server, where the actual driving trajectory represents the locations where the vehicle has traveled in the operating environment; receiving a terrain update message sent by the server, the terrain update message being generated based on a trajectory comparison result between the actual driving trajectory and a planned driving trajectory, the planned driving trajectory representing a preset driving trajectory of the vehicle in the operating environment, the terrain update message indicating a target area in the operating environment where terrain changes occur; Collecting terrain data of the target area according to the terrain update message to obtain regional terrain data; as well as The regional terrain data is sent to the server, wherein the server updates the environmental terrain model of the working environment according to the regional terrain data to obtain a target terrain model.

9. A vehicle comprising: processors, sensors, and communication units; The processor is configured to: determine an actual driving trajectory based on driving position information, the driving position information representing locations traveled by the vehicle in the operating environment; The communication unit is configured to: send the actual driving trajectory to the server, and receive the terrain update message sent by the server; The terrain update message is generated based on a trajectory comparison result between the actual driving trajectory and the planned driving trajectory, the planned driving trajectory represents a preset driving trajectory of the vehicle in the operating environment, and the terrain update message indicates a target area in the operating environment where a terrain change occurs; The sensor is configured to: collect terrain data of the target area according to the target area indicated by the terrain update message to obtain regional terrain data; The communication unit is further configured to send the regional terrain data to the server, wherein the server updates the environmental terrain model of the working environment according to the regional terrain data to obtain a target terrain model.

10. An electronic device comprising: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method according to any one of claims 1 to 8.

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