Loading position area map updating method applied to open pit mine automatic driving

Abstract

The invention provides a loading position area map updating method applied to open pit mine automatic driving. The method comprises: controlling a vehicle to drive into a loading position according toa path planning route; after the vehicle finishes parking at the loading position, controlling the vehicle to drive away from the loading position, collecting point cloud data of a loading position area in the process of driving away from the loading position, and the loading position area being an area with the distance from the boundary of the loading position within a preset range; calculatingan updating vector of a loading position area map boundary based on the point cloud data; and updating the high-precision map of the loading position area by utilizing the updating vector of the mapboundary of the loading position area. The method can adapt to the business scene of loading area high-frequency map boundary updating, and real-time and accurate updating of the loading position areaboundary is achieved.

Description

technical field [0001] The present disclosure relates to the field of automatic driving, and in particular to a method for updating a loading position area map applied to automatic driving in open-pit mines. Background technique [0002] Due to its relatively closed and open environment, open-pit mines are one of the best choices for the implementation of autonomous driving technology. The key technologies of autonomous driving involve environmental perception, high-precision positioning, decision-making and planning, and execution control. Among them, high-precision Due to its high precision, high granularity, and real-time characteristics, maps can perform functions such as high-precision positioning, auxiliary perception, planning, and decision-making in autonomous driving, ensuring efficient and accurate path planning and safe driving. [0003] Different from the high-precision maps of traditional urban areas, the geographical elements of open-pit mines have been in the ...

AI Technical Summary

Problems solved by technology

The existing high-precision map update methods are mostly oriented towards the relatively regular high-precision map road network of the city. The update of the regional map is based on the active collection of the collection vehicle and the reporting of the terminal vehicle. The update efficiency is difficult to meet the rapid update requirements of the open-pit mine scene.

For example, some technical solutions are based on the detection and update of high-precision maps by road passenger vehicles, but this solution is difficult to apply to the positioning and path planning requirements of the open area loading area in open-pit mining areas where the update frequency reaches minutes or even seconds; or based on high-precision trajectories The data is combined with pure image data to measure and draw lane lines, but this solution is difficult to apply to mine roads without lane line marks; there are also technical solutions based on mining scene collection point cloud data, making point cloud layers, editing, marking roads, obstacles, High-precision map layers such as traffic rules are costly and inefficient, and it is difficult to meet the automatic update requirements of fast-changing terrain areas such as loading areas

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