Map distribution system and control platform

Abstract

The present disclosure provides a map distribution system and a control platform, the system comprising: a map distribution module and a vehicle scheduling module; the map distribution module is configured to obtain map update data; determine a candidate element group to be distributed according to the map update data and the divided element group; wherein the element group is used to represent the spatial belonging relationship based on the map element, and the map data obtained by grouping the map element data; the vehicle scheduling module is configured to determine a target vehicle driving path planning based on a target vehicle operation task scheduling strategy; and determine a first target element group according to the topological relationship between the driving path planning and the map data represented by the candidate element group; the map distribution module is further configured to distribute the first target element group to the target vehicle to update the first map data of the target vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a map distribution system and control platform. Background Technology

[0002] In unmanned mining scenarios, maps are a crucial foundation for the autonomous driving of unmanned mining trucks. During the initialization of the autonomous driving system, an initial high-precision map is created. As operations progress, the terrain at the mine site gradually changes, and the unmanned mining trucks promptly identify these changes, automatically create maps, and upload them to the control platform. The control platform integrates the maps updated by various unmanned mining trucks and on-site dispatchers, and finally, it promptly distributes the latest map to the unmanned mining trucks to assist in their autonomous driving.

[0003] As mining operations expand, more unmanned mining trucks are being used for transportation tasks, and the map coverage is also increasing. With the growing scale of unmanned mining trucks and the larger maps, the bandwidth consumption and efficiency issues in distributing maps to these trucks have become more prominent. Summary of the Invention

[0004] This disclosure provides a map distribution system and control platform to address the problems of high bandwidth consumption and low distribution efficiency in the existing map distribution process as the number of vehicles increases and the scope of high-precision maps continues to expand.

[0005] In view of the above problems, in a first aspect, the present disclosure provides a map distribution system, including: a map distribution module and a vehicle dispatching module; The map distribution module is used to acquire map update data; and determine candidate feature groups to be distributed based on the map update data and the divided feature groups; wherein, the feature groups are used to characterize map data obtained by grouping map feature data based on the spatial affiliation relationship of map features. The vehicle scheduling module is used to determine the target vehicle's driving path plan based on the target vehicle's task scheduling strategy; and to determine the first target element group based on the topological relationship between the driving path plan and the map data represented by the candidate element group. The map distribution module is further configured to distribute the first target feature group to the target vehicle to update the first map data of the target vehicle.

[0006] In conjunction with the first aspect, in one possible implementation, the element group includes at least one of the following: a work area element group, an intersection area element group, and a travel route area element group; The map distribution module is also used to pre-divide the basic map data into multiple map regions; the map regions include at least one of the following: work area, intersection area, and driving section area; Based on the map features present in the work area, determine the work area feature group; based on the map features present in the intersection area, determine the intersection area feature group; based on the map features present in the driving road segment area, determine the driving road segment area feature group.

[0007] In conjunction with the first aspect, in one possible implementation, the vehicle scheduling module is used to determine a first region range that overlaps between the map region traversed by the driving route plan and the map region represented by the candidate element group, based on the topological relationship between the driving route plan and the map region represented by the candidate element group. The first target element group is determined based on the candidate element group to which the first area belongs.

[0008] In conjunction with the first aspect, in one possible implementation, the vehicle scheduling module is used to determine a first region range that overlaps between the map region traversed by the driving route plan and the map region represented by the candidate element group, based on the topological relationship between the driving route plan and the map region represented by the candidate element group. Determine the range of the second region within a preset distance from the first region; A first target element group is determined based on the candidate element groups to which the first and second area ranges belong.

[0009] In conjunction with the first aspect, in one possible implementation, the element group corresponds to element group identification information; The vehicle scheduling module is also used to send the driving route planning and the first target element group identification information corresponding to the first target element group to the target vehicle; The map distribution module is further configured to receive a first request message sent by the target vehicle; wherein the first request message carries a first target feature group identifier and a first map version information of the map area represented by the first target feature group identifier in the first map data; The map distribution module is used to determine the first target element group corresponding to the candidate element group based on the first target element group identification information; and compare the first map version information with the second map version information corresponding to the first target element group. If the first map version information and the second map version information are inconsistent, the first target element group is distributed to the target vehicle.

[0010] In conjunction with the first aspect, in one possible implementation, the map distribution module is further configured to acquire the operating status of the target vehicle; When the target vehicle's operating status representation is in operation, if at least two first request messages sent by the target vehicle are received, and the time interval between receiving the first request messages is less than a first preset threshold, the corresponding first target element group identification information is fused to obtain new first target element group identification information. Based on the new first target element group identifier information, the corresponding first target element group in the candidate element group is determined; and the first map version information and the second map version information corresponding to the first target element group are compared. If the first map version information and the second map version information are inconsistent, the first target element group is sent to the target vehicle.

[0011] In conjunction with the first aspect, in one possible implementation, when it is determined that there are multiple corresponding first target feature groups in the candidate feature group, The map distribution module is further configured to, when a corresponding first map version information exists in the second map version information corresponding to multiple first target feature groups, determine the incremental map data of the latest second map version information relative to the first map version information; distribute the incremental map data to the target vehicles; and / or, If no corresponding first map version information is found in the second map version information corresponding to multiple first target element groups, the full map data corresponding to the latest second map version information will be distributed to the target vehicle.

[0012] In conjunction with the first aspect, in one possible implementation, the map distribution module is further configured to split the map area represented by the first target element group and distribute it to the target vehicle in batches according to a specified rule; the specified rule is determined based on the travel time sequence of map elements along the target vehicle's driving path planning route, key map elements, and / or road condition change information.

[0013] In conjunction with the first aspect, in one possible implementation, the specified rule includes that the more drastic the change in road conditions, the fewer the batches or the longer the corresponding average road length, wherein the average road length refers to the ratio of the sum of the road lengths corresponding to each batch to the number of batches.

[0014] In conjunction with the first aspect, in one possible implementation, the element group corresponds to element group identification information; The map distribution module is also used to send a map update notification to the vehicle dispatch module after obtaining map update data. The vehicle dispatching module is also used to send a second request for candidate feature group identification information to the map distribution module based on the received map update notification. The map distribution module is further configured to send candidate feature group identifier information and third map version information corresponding to the candidate feature group to the vehicle dispatch module according to the second request information; The vehicle dispatching module is further configured to determine the second target element group identification information based on the candidate element group identification information, the third map version information, and the pre-stored second map data; and send a third request message carrying the second target element group identification information to the map distribution module. The map distribution module is further configured to send the corresponding second target element group in the candidate element group to the vehicle dispatch module according to the third request information, so as to update the second map data of the vehicle dispatch module.

[0015] In a second aspect, a control platform is provided, including a map distribution system as described in the first aspect or any possible implementation in combination with the first aspect.

[0016] The beneficial effects of the embodiments disclosed herein include: This disclosure provides a map distribution system and control platform, comprising: a map distribution module and a vehicle scheduling module; the map distribution module is used to acquire map update data; and determine candidate element groups to be distributed based on the map update data and the divided element groups; wherein, the element groups are used to characterize map data obtained by grouping map element data based on the spatial affiliation relationship of map elements; the vehicle scheduling module is used to determine the target vehicle's driving path planning based on the target vehicle's work task scheduling strategy; and determine a first target element group based on the driving path planning and the topological relationship between the map data characterized by the candidate element groups; the map distribution module is also used to distribute the first target element group to the target vehicles to update the first map data of the target vehicles. The map distribution system provided in this disclosure, in application scenarios where the scale of mining operations vehicles continues to expand and the map coverage gradually expands, does not require a unified full map data update operation for all target vehicles, but only pushes a first target element group strongly related to its driving path to each target vehicle. This method can effectively reduce the total amount of data transmission between the control platform and the vehicle, reduce the bandwidth resource consumption of the data transmission link, and steadily improve the overall map distribution efficiency. The element groups are divided based on spatial affiliation relationships, enabling map data partitioning and block management. The system allows for independent iteration and maintenance of map data for different work areas and driving routes within the mining area, reducing the storage and maintenance complexity of massive mining area map data. Furthermore, it deeply integrates map distribution with vehicle task scheduling strategies, ensuring a high degree of match between distributed map data and real-time vehicle operational needs. The vehicle scheduling module can dynamically adjust driving route planning based on the target vehicle's task scheduling strategy and update the adapted first target element group in real time, achieving a dynamic, on-demand map distribution mechanism. This enables the system to adapt to complex operational scenarios such as temporary adjustments to mining vehicle transportation routes and dynamic switching of work areas, effectively improving the map distribution system's scenario versatility and adaptability. Attached Figure Description

[0017] Figure 1 A structural diagram of the map distribution system provided in this embodiment of the disclosure; Figure 2 This is one of the schematic diagrams of a mine map provided in the embodiments of this disclosure; Figure 3 This is the second schematic diagram of a mine map provided in the embodiments of this disclosure; Figure 4 This is a schematic diagram of the map distribution process provided in an embodiment of the present disclosure. Detailed Implementation

[0018] This disclosure provides a map distribution system and control platform. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.

[0019] This disclosure provides a map distribution system, such as... Figure 1 As shown, it includes: a map distribution module 101 and a vehicle dispatching module 102; The map distribution module 101 is used to acquire map update data; and to determine candidate feature groups to be distributed based on the map update data and the divided feature groups; wherein, the feature groups are used to represent map data obtained by grouping map feature data based on the spatial affiliation relationship of map features. The vehicle scheduling module 102 is used to determine the target vehicle's driving path plan based on the target vehicle's task scheduling strategy; and to determine the first target element group based on the topological relationship between the driving path plan and the map data represented by the candidate element group. The map distribution module 101 is also used to distribute the first target feature group to the target vehicle to update the first map data of the target vehicle.

[0020] In this embodiment of the disclosure, high-precision maps are a crucial foundation for the autonomous driving of unmanned mining trucks in unmanned mining scenarios. During the initialization phase of the autonomous driving system of an unmanned mining truck, an initial high-precision map is generated. During vehicle transportation operations, the terrain at the mine site continuously changes. The unmanned mining truck can perceive these changes in real time and automatically create a map, uploading the updated map to the control platform. After fusing map data uploaded by multiple unmanned mining trucks and on-site dispatchers, the control platform needs to promptly distribute the latest map to each vehicle to ensure normal autonomous driving. With the expansion of business scale, the number of unmanned mining trucks in unmanned mining scenarios continues to increase, and the coverage area of ​​high-precision maps in the mining area expands accordingly. The high bandwidth consumption and low transmission efficiency of the map distribution link gradually become apparent.

[0021] For example, the original map file size of the entire mining area is 1M, and there are 100 unmanned mining trucks operating online. When the number of vehicles doubles to 200, the map file size increases to 2M, while the map data increment for each unmanned mining truck is 100K. The changes in data transmission volume between the full map data distribution and the incremental map data distribution are shown in Table 1 below:

[0022] Table 1 This shows that after map expansion, the total data transmission volume for full map data distribution is four times that before the expansion, and the total data transmission volume for incremental map data distribution is twice that before. Given the continuous expansion of the vehicle fleet, the increasing volume of map data, and limited transmission bandwidth resources, how to efficiently and promptly distribute the latest map data to all vehicles has become a pressing technical challenge.

[0023] In this embodiment, following the principle of on-demand distribution, the system utilizes task scheduling strategies and map topology to identify the small-scale map required by vehicles, thereby reducing the amount of map data distributed and the frequency of updates. The map distribution module acquires the aggregated map update data for the mining area. The map update data is matched with feature groups to obtain feature groups containing the content of this update, and these feature groups are identified as candidate feature groups to be distributed. Each feature group contains integrated map data. The basis for dividing feature groups is the spatial affiliation of each map feature, i.e., using geographical location, work area, intersection, road segment, etc., as the dividing criteria to aggregate scattered map features into groups. The resulting set of map data units after grouping is considered a feature group. Map features are the basic units constituting map data, such as roads, slopes, obstacles, parking spots, transportation routes, and other spatial geographic information. Feature groups record information about the map features. The map update data is matched with the feature groups, i.e., the map features in the map update data are matched with the map features within the feature groups, thereby obtaining the feature groups containing the content to be updated, i.e., the candidate feature groups to be distributed.

[0024] Furthermore, the vehicle scheduling module retrieves the task scheduling strategy corresponding to the target vehicle and generates a driving route plan adapted to the task requirements of the target vehicle. It compares the topological relationship between the driving route plan and the map data represented by each candidate element group, and selects candidate element groups that include spatial range adaptation and task-related vehicle driving routes as the first target element group. By combining the driving route of the target vehicle with the topological relationship of the map data represented by the candidate element groups, only the element groups necessary for the target vehicle to complete the task are retained, eliminating data irrelevant to the driving route plan. This achieves differentiated map data selection for different target vehicles, avoiding redundant map data content from the full distribution.

[0025] The map distribution module sends the filtered first target feature group to the corresponding target vehicle; after receiving the first target feature group, the target vehicle uses the map data of the first target feature group to update the first map data stored locally.

[0026] In this embodiment, facing the reality of a continuously increasing number of mining vehicles and an expanding high-precision map coverage area, it is unnecessary to update map data for all vehicles, let alone the entire map data. Only a first target element group strongly related to the driving path is pushed to each vehicle, significantly reducing the total data transmission volume between the control platform and the vehicle, significantly reducing bandwidth usage on the transmission link, and steadily improving map data distribution efficiency. The element groups divided according to spatial affiliation allow for partitioned and block-based management of map data, facilitating iterative maintenance of map data for different working areas and roads within the mining area. Map data management is well-organized, reducing the storage and maintenance difficulty of massive mining area map data. Map distribution is deeply integrated with vehicle task scheduling strategies. The distributed map data closely matches the real-time task requirements of vehicles. The vehicle scheduling module can dynamically adjust the driving path planning and change the first target element group in real time according to the target vehicle's task scheduling strategy, supporting a dynamic, on-demand map distribution mechanism. This allows for adaptation to complex business scenarios such as temporary adjustments to target vehicle transportation routes and dynamic switching of working areas within the mining area, demonstrating greater versatility.

[0027] In another embodiment of this disclosure, the element group includes at least one of the following: a work area element group, an intersection area element group, and a travel segment area element group; The map distribution module is also used to pre-divide the basic map data into multiple map areas; the map areas include at least one of the following: work area, intersection area, and driving section area; Based on the map features present in the work area, determine the work area feature group; based on the map features present in the intersection area, determine the intersection area feature group; based on the map features present in the driving road segment area, determine the driving road segment area feature group.

[0028] In this embodiment, the map distribution module pre-divides the basic map data into multiple map areas, such as work areas, intersection areas, and driving route areas. It then generates corresponding element groups based on the map elements within each map area. The basic map data can be initial high-precision map data of the mining area or map data updated as business develops. A single mining map dataset contains at least several thousand map elements. Managing and distributing these elements at the granularity of map elements would be highly complex. Therefore, grouping the map elements first significantly reduces the number of elements, thereby lowering the complexity of management and distribution. Furthermore, map elements within a single element group are often used together; this logical division also makes the map data easier to use. Mining map data can be abstracted into multiple polygon spaces connected by roads. Each polygon space and its internal map elements can be divided into an element group. A road and its associated facilities can also be divided into an element group. Figure 2There are four types of surface spaces: unloading area 201, intersection area 202, loading area 203, and parking lot 204. Unloading area 201, loading area 203, and parking lot 204 are the work areas. Unloading area 201 and its internal unloading bays and other map features are grouped into one feature group, forming a work area feature group; similarly, loading area 203 and its internal loading bays and other map features are grouped into one feature group; parking lot 204 and its internal parking spaces and other map features are grouped into one feature group; and intersection area 202 and its internal map features are grouped into one feature group, forming an intersection area feature group. Additionally, Figure 2 It contains 6 roads 205, and the map elements such as the lane centerline and the corresponding drivable lane boundary of each road are included in the driving section area and can be classified into a feature group as the driving section area feature group.

[0029] The feature grouping rules are adapted to scenarios involving mine expansion, new work areas, and new transportation routes. Newly added map data can be directly divided into corresponding map areas and generate corresponding feature groups, resulting in greater scalability. Feature grouping facilitates the maintenance and distribution of specific types of map data; for example, for target vehicles operating in loading areas, only the corresponding work area feature group that needs updating is issued, eliminating the need to issue irrelevant intersection area feature groups or driving route area feature groups, thus reducing redundant data issuance at the classification level.

[0030] In another embodiment of this disclosure, the vehicle scheduling module is used to determine the first area range that overlaps between the map area traversed by the driving route plan and the map area represented by the candidate element group, based on the topological relationship between the driving route plan and the map area represented by the candidate element group. The first target element group is determined based on the candidate element group to which the first region belongs.

[0031] In this embodiment, the vehicle scheduling module first compares the topological relationship between the driving path plan and the map regions corresponding to the candidate element groups to determine the first overlapping area. The candidate element group to which this first area belongs is determined as the first target element group for distribution. The vehicle scheduling module obtains the driving path plan of the target vehicle and the map regions corresponding to each candidate element group. It analyzes the topological relationship between the two and calculates the spatial interval where the map regions traversed by the driving path and the map regions corresponding to the candidate element groups overlap. This overlapping spatial interval is taken as the first area. The vehicle scheduling module searches for candidate element groups that contain the first area and determines these candidate element groups as the first target element group. The topological relationship can be the spatial intersection, coverage, or adjacency spatial association between the map regions corresponding to the driving path plan and the map regions corresponding to the candidate element groups. By quantitatively solving the topological relationship, the map regions that the target vehicle will actually pass through during its journey can be accurately located, avoiding the range judgment deviation caused by relying solely on coarse spatial matching, improving the map region matching accuracy, and thus filtering out effective element groups. Only the candidate feature group belonging to the first area where the coverage path overlaps is identified as the first target feature group, and candidate feature groups that do not involve the target vehicle's driving path are directly eliminated, thereby filtering out irrelevant map data and reducing the total amount of data to be distributed.

[0032] In another embodiment of this disclosure, the vehicle scheduling module is used to determine the first area range that overlaps between the map area traversed by the driving route plan and the map area represented by the candidate element group, based on the topological relationship between the driving route plan and the map area represented by the candidate element group. Determine the range of the second region within a preset distance from the first region; The first target element group is determined based on the candidate element groups to which the first and second area ranges belong.

[0033] In this embodiment of the disclosure, a second area within a preset distance is added based on the overlapping first area, covering the surrounding space of the target vehicle. This adapts to scenarios such as temporary obstacle avoidance, minor path adjustments, and intersection prediction during the target vehicle's journey, avoiding the problem of missing surrounding map data and broadening the adaptability of the map data. Figure 3As shown, the planned travel path for target vehicle 301 is from road 302 through intersection area 202, then from road 304 to the work area. Roads 303 and 305 exist within a 200-meter radius of intersection area 202. Since vehicles on road 303 may enter the intersection area and interfere with the target vehicle's travel, and the target vehicle may need to go to road 305 for obstacle avoidance or other operations due to business scheduling, the map features of roads 303 and 305 are equally important for ensuring the operational safety of the target vehicle. After determining the first area range, a second area range can be determined by extending a preset distance outward along the entrance and / or exit directions of the first area range. This second area range can cover the surrounding space of the planned travel path, including roadside slopes, roadside obstacles, intersection areas, temporary work areas, and other related areas that may be involved during vehicle travel. The vehicle scheduling module identifies the candidate element group to which the first and second area ranges belong, and determines the entire candidate element group as the first target element group. This approach avoids issues such as incomplete map features, broken spatial topology, and fragmented map information caused by local map data segmentation, ensuring the integrity and continuity of the distributed map data. For example, although road 303 is over 200 meters long, and the second area does not cover the complete driving segment feature group, the driving segment feature group is still used as the distribution unit. Using feature groups as the smallest distribution unit eliminates the need for splitting, reorganizing, and stitching local map data, simplifying the system's data processing logic and reducing computational complexity.

[0034] In another embodiment of this disclosure, the element group corresponds to element group identification information; The vehicle dispatching module is also used to send the driving route plan and the first target element group identification information corresponding to the first target element group to the target vehicle; The map distribution module is also used to receive a first request message sent by the target vehicle; wherein the first request message carries a first target element group identifier and a first map version information of the map area represented by the first target element group identifier in the first map data; The map distribution module is used to determine the first target element group corresponding to the candidate element group based on the first target element group identification information; and compare the first map version information with the second map version information corresponding to the first target element group. If the first map version information and the second map version information are inconsistent, the first target element group is distributed to the target vehicle.

[0035] In this embodiment, version verification is performed based on feature group identification information, and map features are distributed on demand. Each feature group is configured with unique feature group identification information. This identification information is a unique identifier for each feature group, distinguishing different feature groups and providing an index for map feature matching and version verification. After determining the first target feature group, the vehicle scheduling module retrieves the corresponding first target feature group identification information and sends the target vehicle's driving route plan along with the first target feature group identification information to the target vehicle, making it clear to the target vehicle that the target map data needs updating. After receiving the driving route plan and the first target feature group identification information, the target vehicle retrieves its locally stored first map data and reads the first map version information for the map area corresponding to the first target feature group identification information. The target vehicle encapsulates the first target feature group identification information and the corresponding first map version information into a first request message and requests the map data to be updated from the map distribution module. The map distribution module receives the first request message uploaded by the target vehicle and parses it to obtain the first target feature group identification information and the first map version information. The map distribution module accurately locates the corresponding first target element group in the candidate element group based on the first target element group identifier information, and retrieves the latest second map version information from the control platform in the cloud for that first target element group, completing a comparison between the vehicle's local version and the latest version on the control platform. The map distribution module determines whether the first map version information and the second map version information are consistent. If the version information is inconsistent, it indicates that the vehicle's local map data is lagging or not updated in a timely manner, and the latest first target element group in the cloud is distributed to the target vehicle; if they are consistent, no map distribution operation is required. Through the mechanism of element group identifier information, version verification, and on-demand map element distribution, lightweight map data updates are ensured, greatly reducing the bandwidth pressure of map distribution in multi-vehicle autonomous driving scenarios in mines.

[0036] In another embodiment of this disclosure, the map distribution module is further configured to obtain the operating status of the target vehicle; When the target vehicle's operating status representation is in operation, if at least two first request messages sent by the target vehicle are received, and the time interval between receiving the first request messages is less than a first preset threshold, the corresponding first target element group identification information is fused to obtain new first target element group identification information. Based on the new first target element group identifier information, the corresponding first target element group in the candidate element group is determined; and the first map version information and the second map version information corresponding to the first target element group are compared. If the first map version information and the second map version information are inconsistent, the first target element group is sent to the target vehicle.

[0037] This embodiment addresses scenarios involving frequent target vehicle scheduling and frequent triggering of task scheduling strategies. Multiple consecutive map update requests generated by the target vehicle during operation are identified as high-frequency first request information using a time threshold (a first preset threshold). Multiple first target element group identifiers are then merged and processed, abandoning the one-to-one processing mode of single request and single response. This effectively avoids signaling redundancy and frequent network handshakes caused by frequent interactions, reducing the number of interactions between the control platform and the target vehicle. The map distribution module collects and monitors the target vehicle's operating status data in real time to determine if the target vehicle is currently in a working state. The high-frequency request fusion logic is only activated when the vehicle is operating normally and frequent scheduling is possible. This fusion logic is not executed when the vehicle is idle, avoiding invalid calculations and saving computing resources. When the target vehicle's operating status indicates it is running, the map distribution module continuously listens for the first request information uploaded by the target vehicle. If the map distribution module continuously receives at least two first request messages from the target vehicle, and the time interval between the reception of adjacent first request messages is less than a preset first threshold, then it is determined that the current scenario is a high-frequency continuous map update request scenario. The map distribution module integrates and merges multiple first target element group identifiers carried in multiple first request messages to generate new first target element group identifiers, uniformly representing all element groups that need to be verified and distributed this time. Based on the new first target element group identifiers, the map distribution module matches the corresponding first target element group in the candidate element groups. It extracts the first map version information from the new first request message and the second map version information corresponding to the first target element group stored on the control platform, and performs a consistency comparison of the map version information. If the comparison result shows that the first map version information and the second map version information are inconsistent, it indicates that the vehicle's local map data is lagging behind the latest map data on the control platform, and the map distribution module distributes the corresponding first target element group to the target vehicle; if the version information is consistent, no distribution operation is performed. This processing logic of first target element group identifier fusion, batch version verification, and unified distribution avoids repeatedly performing element group matching, version comparison, and data distribution processes for the same target vehicle in a short period, reducing the amount of redundant calculations on the control platform and improving the processing efficiency of the map distribution module.

[0038] In another embodiment of this disclosure, when it is determined that there are multiple first target feature groups corresponding to the candidate feature groups, The map distribution module is also used to, when there is corresponding first map version information in the second map version information corresponding to multiple first target feature groups, determine the incremental map data of the latest second map version information relative to the first map version information; distribute the incremental map data to the target vehicles; and / or, If no corresponding first map version information is found in the second map version information corresponding to multiple first target element groups, the full map data corresponding to the latest second map version information will be distributed to the target vehicle.

[0039] In this embodiment, a differentiated map data distribution strategy is adopted for scenarios with multiple first target feature groups. Map data for mining areas may include loading areas, unloading areas, driving road sections, intersections, parking lots, supply areas, and other operational areas. Map data is divided into feature groups. Multiple feature groups of the same type can exist; for example, multiple feature groups representing the same road can be stored according to their version update time. These feature groups are sorted according to map version information and stored in a queue. The queue of feature groups retains multiple versions within a preset time period. The queue and feature group identification information are stored for easy indexing and querying. Each feature group includes the following information: CommonID ​​Feature Group Identification Information bytes data is used to store the serialized map feature data. string SHA-256 data digest long timestamp update time String start_version (start map version information) String end_version End of map version information Boolean latest: Is this the latest map version? After receiving the first target feature group identifier information sent by the target vehicle, the map distribution module records the subscription relationship between the target vehicle and the first target feature group identifier information. The record format is as follows: Group ID1 -> [vin1, vin2, vin3, ...] Group ID2 -> [vinA, vinB, vinC, ...] Group ID represents the element group identification information, and vin represents the target vehicle.

[0040] The map distribution module matches the first target feature group with the candidate feature group based on the first target feature group identifier information. If multiple first target feature groups exist within the candidate feature groups, the module matches the first map version information with the second map version information corresponding to each first target feature group. If a corresponding first map version information exists among the second map version information corresponding to multiple first target feature groups (i.e., the first map version information of the target vehicle is matched in the queue), the latest second map version information is differentially analyzed with the map features carried by the first map version information to obtain incremental map data. This incremental map data is then sent to the target vehicle. This eliminates the need to transmit the complete map data of the first target feature group, significantly reducing the amount of data transmitted, lowering bandwidth usage, and avoiding the repeated transmission of unchanged redundant map data.

[0041] If the corresponding first map version information is not found in the second map version information of multiple first target feature groups (i.e., the first map version information for the target vehicle cannot be found in the queue), then the full map data corresponding to the latest second map version information will be distributed to the target vehicle. This can solve the problems of outdated vehicle map versions, version gaps, and inability to perform differential updates during initial loading, avoid update anomalies, and improve fault tolerance.

[0042] After receiving incremental or full map data, the target vehicle merges it with its local first map data to obtain the full map data. A data summary can then be calculated from the full map data. If the target vehicle's data summary matches the data summary value of the feature group in the control platform, the data transmission and fusion are considered correct. If they do not match, the target vehicle can resend the first request information.

[0043] Subsequently, if the map distribution module receives updated map data again, it can notify the corresponding target vehicles to obtain the updated map data for the corresponding feature group based on the subscription relationship. This subscription-based notification method replaces broadcasting. Each time the map data is updated, only a few target vehicles need to update. By recording the subscription relationship, the target vehicles that need updating can be identified, greatly reducing the interaction frequency between target vehicles and the control platform and improving data distribution efficiency.

[0044] Because it follows the principle of on-demand distribution, it only provides the target vehicle's driving path planning and the connected feature groups within the preset distance range. Compared to providing the full map data of the mine, the amount of data that needs to be sent and updated, as well as the frequency of distribution, is much smaller.

[0045] For a 2MB map dataset with 150 target vehicles, following the above logic for map distribution and analyzing all transport tasks from loading areas to unloading areas, the average amount of data sent to each target vehicle is only about 500KB. The data volume fluctuation is positively correlated with the length of the target vehicle's transport route. Furthermore, this value does not significantly increase with the size of the entire mine map dataset. Additionally, because the map area sent to the target vehicles is smaller, the amount of update data that the target vehicles need to be concerned with also decreases. The update frequency for a single target vehicle also decreases significantly. This 2MB map dataset contains 18 loading areas. Loading areas are the areas with the highest update frequency, accounting for over 80% of the total updates. However, with the 150 target vehicles evenly distributed across these 18 loading areas, updates for each loading area only need to be sent to about 8 target vehicles. In contrast, the traditional full map data distribution model would require sending data to all 150 target vehicles.

[0046] In another embodiment of this disclosure, the map distribution module is further configured to split the map area represented by the first target element group and distribute it to the target vehicle in batches according to a specified rule; the specified rule is determined based on the travel time sequence of the map elements along the target vehicle's driving path planning route, key map elements and / or road condition change information.

[0047] In this embodiment, the map area represented by the first target element group is split into multiple small data units, thus avoiding excessive instantaneous bandwidth consumption and transmission lag caused by excessive data volume in a single transmission and reducing the pressure of single data transmission. The map distribution module splits the map area corresponding to the first target element group to be transmitted according to specified rules and transmits it to the target vehicle in batches. The specified rules are determined based on the travel sequence of map elements along the target vehicle's driving path planning route, key map elements, and / or road condition change information. The travel sequence refers to the order in which the target vehicle passes through various map elements along the planned driving path. Key map elements refer to map elements that play a crucial role in the safe autonomous driving of the target vehicle, such as speed limit signs, obstacles, and slope terrain. The degree of road condition change can be the magnitude and frequency of changes in terrain, road conditions, and environment in different map areas, used to characterize the importance of updating the map area. The specified rules, based on the target vehicle's travel time sequence, key map elements, and the degree of road condition changes, ensure that the issued strategies are tailored to the actual driving needs of the target vehicle and the on-site working conditions, prioritizing the matching of the target vehicle's driving logic and safety requirements, and possessing scenario adaptability and rationality.

[0048] In another embodiment of this disclosure, the specified rules include that the more drastic the change in road conditions, the fewer the batches or the longer the corresponding average road length, where the average road length refers to the ratio of the sum of the road lengths corresponding to each batch to the number of batches.

[0049] In this embodiment, when the map distribution module splits and distributes the map area of ​​the first target element group in batches, it adjusts the batch size based on the degree of road condition change. The more drastic the road condition change, the fewer the number of batches and the longer the average road length of each batch. This rule adapts to different road condition change scenarios, enabling orderly batch distribution. The map distribution module obtains the degree of road condition change corresponding to the map area represented by the first target element group and identifies the severity level of road condition change in the current road area. For map areas with more drastic road condition changes, fewer batches are configured. The average road length is calculated based on the sum of road lengths and the number of batches, ensuring that the average road length per batch is longer for areas with more drastic road condition changes. The road length can be the length of the vehicle transport path covered by the map area. For areas with drastic road condition changes, the real-time requirements for distribution are higher. Using a splitting method with fewer batches and longer average road lengths reduces the number of map splitting and distribution interactions, simplifies the map distribution process in highly variable areas, and improves distribution efficiency. This balances real-time performance with network load and stability in unmanned mining truck operation scenarios.

[0050] In another embodiment of this disclosure, the element group corresponds to element group identification information; The map distribution module is also used to send map update notifications to the vehicle dispatch module after obtaining map update data; The vehicle dispatching module is also used to send a second request message to the map distribution module requesting candidate feature group identification information based on the received map update notification; The map distribution module is also used to send candidate feature group identifier information and the third map version information corresponding to the candidate feature group to the vehicle dispatch module according to the second request information; The vehicle dispatching module is also used to determine the second target feature group identifier information based on the candidate feature group identifier information, the third map version information, and the pre-stored second map data; and send a third request message carrying the second target feature group identifier information to the map distribution module. The map distribution module is also used to send the corresponding second target feature group in the candidate feature group to the vehicle dispatch module according to the third request information, so as to update the second map data of the vehicle dispatch module.

[0051] In this embodiment of the disclosure, the second map data of the vehicle dispatching module is updated. For example... Figure 4 As shown, After obtaining map update data, the map distribution module 101 sends a map update notification to the vehicle dispatch module 102, notifying the vehicle dispatch module 102 to obtain the map update data.

[0052] The vehicle dispatching module 102 sends a second request message requesting candidate feature group identification information to the map distribution module 101 based on the received map update notification.

[0053] After receiving the second request information, the map distribution module 101 sends the candidate feature group identifier information and the third map version information corresponding to the candidate feature group to the vehicle dispatch module 102.

[0054] The vehicle dispatch module 102 reads the received candidate feature group identifier information and third map version information, compares and filters them with its pre-stored second map data, and determines the second target feature group identifier information that needs to be updated. The vehicle dispatch module 102 generates a third request message carrying the second target feature group identifier information and sends it to the map distribution module 101.

[0055] The map distribution module 101 receives the third request information, matches the corresponding second target element group in the candidate element group according to the second target element group identification information carried in it, and sends the second target element group to the vehicle dispatch module 102 to realize the update of the local second map data of the vehicle dispatch module 102.

[0056] Both the map distribution module 101 and the vehicle dispatch module 102 are deployed on a cloud-based control platform, communicating via an intranet, thus eliminating bandwidth limitations. Furthermore, for each map version update, the map distribution module 101 and the vehicle dispatch module 102 only need to interact once. Once the map distribution module 101 has updated map data, it sends a message to the vehicle dispatch module 102 to update the map. The vehicle dispatch module 102 first determines the candidate feature group identifier information and the corresponding third map version information, compares it with the map version information of the second map data, and then retrieves the data that needs updating to update the second map data.

[0057] Dispatcher 401 issues work task scheduling strategy; The vehicle dispatching module 102 determines the travel path planning of the target vehicle based on the task dispatching strategy of the target vehicle. The vehicle scheduling module 102 determines the first target element group based on the topological relationship between the driving route planning and the map data represented by the candidate element group; The vehicle dispatching module 102 sends the driving route plan and the first target element group identification information corresponding to the first target element group to the target vehicle 301; and responds to the dispatcher that the task dispatching strategy has been received.

[0058] The target vehicle 301 sends a first request message to the map distribution module 101; the first request message carries the first target element group identification information and the first map version information of the map area represented by the first target element group identification information in the first map data.

[0059] The map distribution module 101 determines the corresponding first target element group in the candidate element group based on the first target element group identifier information; it then compares the first map version information with the second map version information corresponding to the first target element group to determine the incremental map data to be distributed. It also records the subscription relationship with the target vehicle 301.

[0060] After obtaining new map update data, the map distribution module 101 sends a new map update notification to the target vehicle. Target vehicle 301 sends a new first request to map distribution module 101 based on the new map update notification; The map distribution module 101 sends new incremental map data to the target vehicle 301 based on the new first request information.

[0061] Based on the same disclosed concept, this disclosure also provides a control platform. Since the principle of the problem solved by the control platform is similar to that of the aforementioned map distribution system, the implementation of the control platform can refer to the implementation of the aforementioned method, and the repeated parts will not be described again.

[0062] This disclosure provides a control platform, including a map distribution system as described in any of the above embodiments.

[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0064] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0065] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0066] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0067] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A map distribution system, characterized in that, include: Map distribution module and vehicle dispatch module; The map distribution module is used to acquire map update data; and determine candidate feature groups to be distributed based on the map update data and the divided feature groups; wherein, the feature groups are used to characterize map data obtained by grouping map feature data based on the spatial affiliation relationship of map features. The vehicle scheduling module is used to determine the target vehicle's driving path plan based on the target vehicle's task scheduling strategy; and to determine the first target element group based on the topological relationship between the driving path plan and the map data represented by the candidate element group. The map distribution module is further configured to distribute the first target feature group to the target vehicle to update the first map data of the target vehicle.

2. The system as described in claim 1, characterized in that, The element group includes at least one of the following: work area element group, intersection area element group, and driving route area element group; The map distribution module is also used to pre-divide the basic map data into multiple map regions; the map regions include at least one of the following: work area, intersection area, and driving section area; Based on the map features existing within the work area, determine the work area feature group; based on the map features existing within the intersection area, determine the intersection area feature group. Based on the map features existing within the driving route area, determine the feature group of the driving route area.

3. The system as described in claim 1, characterized in that, The vehicle scheduling module is used to determine the first area range that overlaps between the map area traversed by the driving route plan and the map area represented by the candidate element group, based on the topological relationship between the driving route plan and the map area represented by the candidate element group. The first target element group is determined based on the candidate element group to which the first area belongs.

4. The system as described in claim 1 or 3, characterized in that, The vehicle scheduling module is used to determine the first area range that overlaps between the map area traversed by the driving route plan and the map area represented by the candidate element group, based on the topological relationship between the driving route plan and the map area represented by the candidate element group. Determine the range of the second region within a preset distance from the first region; A first target element group is determined based on the candidate element groups to which the first and second area ranges belong.

5. The system as described in claim 1, characterized in that, Each element group has corresponding element group identification information; The vehicle scheduling module is also used to send the driving route planning and the first target element group identification information corresponding to the first target element group to the target vehicle; The map distribution module is further configured to receive a first request message sent by the target vehicle; wherein the first request message carries a first target feature group identifier and a first map version information of the map area represented by the first target feature group identifier in the first map data; The map distribution module is used to determine the corresponding first target element group in the candidate element group based on the first target element group identification information; The first map version information and the second map version information corresponding to the first target element group are compared. If the first map version information and the second map version information are inconsistent, the first target element group is sent to the target vehicle.

6. The system as described in claim 5, characterized in that, The map distribution module is also used to obtain the operating status of the target vehicle; When the target vehicle's operating status representation is in operation, if at least two first request messages sent by the target vehicle are received, and the time interval between receiving the first request messages is less than a first preset threshold, the corresponding first target element group identification information is fused to obtain new first target element group identification information. Based on the new first target element group identifier information, determine the corresponding first target element group in the candidate element group; The first map version information and the second map version information corresponding to the first target element group are compared. If the first map version information and the second map version information are inconsistent, the first target element group is sent to the target vehicle.

7. The system as described in claim 5 or 6, characterized in that, When multiple first target feature groups exist within the candidate feature groups. The map distribution module is further configured to, when there is corresponding first map version information in the second map version information corresponding to multiple first target element groups respectively, determine the incremental map data of the latest second map version information relative to the first map version information; and distribute the incremental map data to the target vehicle; And / or, If no corresponding first map version information is found in the second map version information corresponding to multiple first target element groups, the full map data corresponding to the latest second map version information will be distributed to the target vehicle.

8. The system as described in claim 1, characterized in that, The map distribution module is further configured to split the map area represented by the first target element group and distribute it to the target vehicle in batches according to a specified rule; the specified rule is determined based on the travel time sequence of the map elements along the target vehicle's driving path planning route, key map elements and / or road condition change information.

9. The system as described in claim 8, characterized in that, The specified rules include that the more drastic the change in road conditions, the fewer the batches or the longer the corresponding average road length, where the average road length refers to the ratio of the sum of the road lengths corresponding to each batch to the number of batches.

10. The system as claimed in claim 1, characterized in that, Each element group has corresponding element group identification information; The map distribution module is also used to send a map update notification to the vehicle dispatch module after obtaining map update data. The vehicle dispatching module is also used to send a second request for candidate feature group identification information to the map distribution module based on the received map update notification. The map distribution module is further configured to send candidate feature group identifier information and third map version information corresponding to the candidate feature group to the vehicle dispatch module according to the second request information; The vehicle dispatching module is further configured to determine the second target element group identification information based on the candidate element group identification information, the third map version information, and the pre-stored second map data; and send a third request message carrying the second target element group identification information to the map distribution module. The map distribution module is further configured to send the corresponding second target element group in the candidate element group to the vehicle dispatch module according to the third request information, so as to update the second map data of the vehicle dispatch module.

11. A control platform, characterized in that, The map distribution system described in any one of claims 1 to 10 is operated.

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