阅读说明：本技术 用于采集地图的装置、系统和车辆 (Device, system and vehicle for collecting map ) 是由 段天雄 李继黄 麻宝峰 张宇智 种道晨 *** 于 2018-06-15 设计创作，主要内容包括：本申请实施例公开了用于采集地图的装置、系统和车辆。该装置的一具体实施方式包括：安装平台,固定于采集车辆的车顶；第一激光雷达,通过第一底座水平设置于安装平台上；第二激光雷达,通过第二底座倾斜设置于安装平台上,且位于安装平台的前端或后端；图像采集设备,固定于安装平台的两侧；定位天线和惯性测量单元,惯性测量单元固定于安装平台上。这种结构的装置通过激光雷达和图像采集设备,可以采集装置周围的环境结构信息和地面信息；通过定位天线可以获取时间信息；通过惯性测量单元可以获取装置的位姿信息。这样可以实现地图数据的自动获取,从而有助于提高地图的生成效率。(The embodiment of the application discloses a device, a system and a vehicle for collecting a map. One embodiment of the apparatus comprises: the mounting platform is fixed on the roof of the collection vehicle; the first laser radar is horizontally arranged on the mounting platform through the first base; the second laser radar is obliquely arranged on the mounting platform through the second base and is positioned at the front end or the rear end of the mounting platform; the image acquisition equipment is fixed on two sides of the mounting platform; the device comprises a positioning antenna and an inertia measuring unit, wherein the inertia measuring unit is fixed on a mounting platform. The device with the structure can acquire the environmental structure information and the ground information around the device through the laser radar and the image acquisition equipment; time information can be obtained through the positioning antenna; the pose information of the device can be obtained through the inertial measurement unit. Thus, automatic acquisition of map data can be realized, which contributes to improvement of map generation efficiency.)

1. An apparatus for collecting a map, comprising:

the mounting platform is fixed on the roof of the collection vehicle;

the first laser radar is horizontally arranged on the mounting platform through the first base;

the second laser radar is obliquely arranged on the mounting platform through a second base and is positioned at the front end or the rear end of the mounting platform;

the image acquisition equipment is fixed on two sides of the mounting platform;

the device comprises a positioning antenna and an inertia measuring unit, wherein the inertia measuring unit is fixed on the mounting platform.

2. The device of claim 1, wherein the second laser radar is located at the rear end of the mounting platform, and the working surface of the second laser radar is inclined towards the ground direction, wherein the front end and the rear end are two ends facing the head direction and the tail direction of the collecting vehicle respectively; and

the second laser radar with be provided with the division board between the first laser radar, the division board is close to the front end setting of second laser radar, just the division board is in highly be not less than on the mounting platform second laser radar is in height on the mounting platform.

3. The apparatus of claim 2, wherein a front end of the mounting platform is provided with a safety bar having a height above the mounting platform that is no lower than a target height, wherein the target height is a maximum height among heights above the mounting platform of the first lidar, the second lidar and the spacer.

4. The apparatus of claim 1, wherein the first plinth is adjustable in a height direction and/or the second plinth is adjustable in at least a pitch direction.

5. The device of claim 1, wherein the mounting platform is provided with a mounting floor perpendicular to the direction of advance of the harvesting vehicle, the mounting floor having a length less than the width of the harvesting vehicle; and

the image acquisition equipment is fixed in the both ends of mounting plate symmetrically, wherein, image acquisition equipment includes the motion camera.

6. The device of claim 5, wherein the mounting base plate is adjustable in length, and/or the image capturing device is fixedly connected to the mounting base plate through a third base, wherein the third base is adjustable at least in a pitch direction.

7. The device of claim 5, wherein both ends of the mounting plate and/or the rear end of the mounting platform are provided with fixing bases on the surface facing the roof of the collection vehicle, the fixing bases being adjustable at least in the height direction, wherein the fixing bases comprise magnetic attraction bases.

8. The device of any one of claims 1-7, wherein the positioning antenna is removably secured to the roof of the collection vehicle or the mounting platform, wherein the removably securing comprises magnetic attraction; and/or the inertial measurement unit is horizontally arranged right below the first laser radar.

9. A system for collecting maps, comprising a power supply device, a control device and an apparatus for collecting maps according to one of claims 1 to 8;

the power supply equipment is electrically connected with the control equipment and the device and is configured to provide stable power supply for the control equipment and the device;

the control equipment is in communication connection with the device and is configured to control the working state of the device; receiving data collected by the device in the process of collecting vehicle driving, and generating a map according to the received data; wherein, the map comprises at least one of the following information: spatial structure information, lane information, and parking space information.

10. A vehicle for collecting maps, comprising an apparatus for collecting maps according to one of claims 1 to 8;

the device is fixed on the roof of the vehicle through a mounting platform, and a power supply system of the vehicle is electrically connected with the device.

11. The vehicle of claim 10, wherein the vehicle is further equipped with an in-vehicle terminal communicatively connected to the device.

12. A vehicle navigation method, comprising:

in response to determining that the current location of the vehicle is located near the destination, obtaining parking space state information of parking lots around the destination;

according to the acquired parking space state information of the parking lot, selecting the parking lot with the free parking space, and acquiring a parking lot map of the selected parking lot, wherein the parking lot map is acquired by the device for acquiring the map according to one of claims 1 to 8;

and selecting an idle parking space according to the acquired parking lot map, generating navigation information from the current position of the vehicle to the selected idle parking space, and pushing the generated navigation information to a user driving the vehicle.

Technical Field

The embodiment of the application relates to the technical field of map acquisition, in particular to a device, a system and a vehicle for acquiring a map.

Background

With the popularization of smart phones and the arrival of the era of mobile internet, electronic maps have become one of the necessary tools for people to go out. Electronic maps currently have a large number of users, a large portion of which are occupied by car owners. The existing electronic map is more and more complete in the aspects of outdoor roads, building attributes, POI (Point of Interest) and the like, and can provide rich information and services. But for parking lot maps, there is often a general lack of relevant information, especially for underground parking lots.

Disclosure of Invention

The embodiment of the application provides a device, a system and a vehicle for collecting a map.

In a first aspect, an embodiment of the present application provides an apparatus for acquiring a map, including: the mounting platform is fixed on the roof of the collection vehicle; the first laser radar is horizontally arranged on the mounting platform through the first base; the second laser radar is obliquely arranged on the mounting platform through the second base and is positioned at the front end or the rear end of the mounting platform; the image acquisition equipment is fixed on two sides of the mounting platform; the device comprises a positioning antenna and an inertia measuring unit, wherein the inertia measuring unit is fixed on a mounting platform.

In some embodiments, the second laser radar is located at the rear end of the mounting platform, and the working surface of the second laser radar is inclined towards the ground direction, wherein the front end and the rear end are two ends facing the direction of the head and the direction of the tail of the collection vehicle respectively; and a separation plate is arranged between the second laser radar and the first laser radar, the separation plate is arranged close to the front end of the second laser radar, and the height of the separation plate on the mounting platform is not lower than that of the second laser radar on the mounting platform.

In some embodiments, the front end of the mounting platform is provided with a guard bar, and the height of the guard bar on the mounting platform is not lower than a target height, wherein the target height is the largest height among the heights of the first lidar, the second lidar and the isolation plate on the mounting platform.

In some embodiments, the first plinth is adjustable in a height direction, and/or the second plinth is adjustable in at least a pitch direction.

In some embodiments, the mounting platform is provided with a mounting base plate perpendicular to the advancing direction of the collection vehicle, and the length of the mounting base plate is smaller than the width of the collection vehicle; and the image acquisition equipment is symmetrically fixed at two ends of the mounting bottom plate, wherein the image acquisition equipment comprises a motion camera.

In some embodiments, the mounting base plate is adjustable in length, and/or the image acquisition device is fixedly connected with the mounting base plate through a third base, wherein the third base is adjustable at least in the pitch direction.

In some embodiments, both ends of the mounting plate and/or the rear end of the mounting platform are provided with fixing bases on the surface facing the roof of the collecting vehicle, the fixing bases are adjustable at least in the height direction, wherein the fixing bases comprise magnetic attraction bases.

In some embodiments, the positioning antenna is detachably fixed on the roof or the mounting platform of the collection vehicle, wherein the detachable fixing mode comprises a magnetic attraction mode; and/or the inertial measurement unit is horizontally mounted directly below the first lidar.

In a second aspect, an embodiment of the present application provides a system for collecting a map, including a power supply device, a control device, and the apparatus for collecting a map as described in any one of the embodiments of the first aspect; the power supply equipment is electrically connected with the control equipment and the device and is configured to provide stable power supply for the control equipment and the device; the control equipment is in communication connection with the device and is configured to control the working state of the device; in the process of collecting the driving of the vehicle, receiving the data collected by the device, and generating a map according to the received data; the map comprises at least one of the following information: spatial structure information, lane information, and parking space information.

In a third aspect, an embodiment of the present application provides a vehicle for collecting a map, including an apparatus for collecting a map as described in any one of the embodiments of the first aspect; the device is fixed on the roof of the vehicle through the mounting platform, and a power supply system of the vehicle is electrically connected with the device.

In some embodiments, the vehicle is also equipped with an in-vehicle terminal communicatively connected to the device.

In a fourth aspect, an embodiment of the present application provides a vehicle navigation method, including: in response to determining that the current location of the vehicle is located near the destination, obtaining parking space state information of parking lots around the destination; according to the acquired parking space state information of the parking lot, selecting the parking lot with the free parking space, and acquiring a parking lot map of the selected parking lot, wherein the parking lot map is acquired by the map acquisition device described in any embodiment of the first aspect; and selecting an idle parking space according to the acquired parking lot map, generating navigation information from the current position of the vehicle to the selected idle parking space, and pushing the generated navigation information to a user driving the vehicle.

According to the device, the system and the vehicle for collecting the map, which are provided by the embodiment of the application, the environmental structure information can be collected through the first laser radar which is horizontally arranged; the ground information can be acquired through the second laser radar and the image acquisition equipment which are obliquely arranged; the current time information can be accurately acquired through the positioning antenna so as to carry out time service; and the position and attitude information of the device can be measured through the inertial measurement unit. Combining these data allows the positioning of the device and thus the determination of the position information of the device. The device in the device can be fixed on the roof of the collection vehicle through the mounting platform. The device of this kind of structure can realize the automatic acquisition of map data to improve data acquisition's convenience, and help improving the generation efficiency of map.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic block diagram of one embodiment of an apparatus for collecting maps according to the present application;

FIG. 2 is a left side view of the structure of the apparatus for collecting a map shown in FIG. 1;

FIG. 3 is a top view of the arrangement of the apparatus for collecting maps of FIG. 1;

FIG. 4 is a schematic structural view of one embodiment of a base adjustable in a pitch direction;

FIG. 5 is a schematic block diagram of one embodiment of a system for collecting maps according to the present application;

FIG. 6 is a flow chart of one embodiment of a vehicle navigation method according to the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Please refer to fig. 1, which shows a schematic structural diagram of an embodiment of the apparatus for collecting a map provided in the present application. As shown in fig. 1, the apparatus for acquiring a map of the present embodiment may include: mounting platform 1, first lidar 2, second lidar 4, image acquisition equipment 6 and location antenna and inertial measurement unit.

In this embodiment, the mounting platform 1 may be fixed to the roof of a harvesting vehicle. Meanwhile, in order to ensure the overall stability and firmness of the device, the mounting platform 1 can be made of metal materials with higher strength, such as steel. In order to reduce the overall weight of the device, a hole may be formed in the non-fixed position of the mounting platform 1, as shown in fig. 1. Therefore, the weight of the mounting platform can be reduced, and the structural strength of the mounting platform cannot be influenced.

In this embodiment, the first laser radar 2 may be horizontally disposed on the mounting platform 1 through the first base 3. In this way, the first lidar 2 may collect environmental structure information around the device. The environmental structure information may include (but is not limited to) information such as wall surface of parking lot, roof of pillar, ground, etc. In order to be closer to the real environment structure of the parking lot, the environment structure information may further include identification information, doors and windows, and other devices, which are provided on the wall surfaces and pillars of the parking lot. The identification information can be a fire safety identification, a prompt or guide identification and other identifications commonly used in parking lots.

In this embodiment, the second laser radar 4 may be obliquely disposed on the mounting platform 1 through the second base 5, and is located at the front end or the rear end of the mounting platform 1. Wherein, the front end and the rear end of the mounting platform 1 are two opposite ends on the mounting platform 1. In this way, the second lidar 4 can collect ground information around the device (e.g. a parking lot). The ground information may include, but is not limited to, ground structure, lane information, parking space information, and devices (such as speed bumps, roadblocks, etc.) disposed on the ground. Here, the traffic lane information may include a lane line, a driving direction indication (e.g., an arrow, text, etc.). And the parking space information may include a parking space line and a parking space number.

In this embodiment, the image capturing devices 6 may be fixed to both sides of the mounting platform 1. I.e. the lens of the image capturing device 6 is directed towards both sides of the body of the capturing vehicle. In this way, the image capture device 6 can also capture image information of the ground around the apparatus (e.g., a parking lot). Under the combined action of the second laser radar 4 and the image acquisition device 6, complete ground information can be obtained. It is to be understood that the number and installation positions of the image capturing devices are not limited in the present application.

Furthermore, the apparatus in this embodiment may further comprise a positioning antenna (not shown in fig. 1) and an inertial measurement unit (such as inertial measurement unit 7 shown in fig. 2). The positioning antenna may be, but is not limited to being, fixed to the roof or mounting platform 1 of the harvesting vehicle. And the inertial measurement unit may be fixed to the mounting platform 1. Wherein the positioning antenna may obtain time information. The positioning antenna may include a positioning time service antenna, and various positioning technologies may be adopted, including a GPS (global positioning System), a BDS (BeiDou Navigation Satellite System), and the like. Because the device is installed on the collection vehicle, the position and attitude information of the collection vehicle (equivalent to the device) can be measured by an Inertial Measurement Unit (IMU).

It should be noted that when the collection vehicle (i.e., the device) is located outdoors, the position information of the device can be obtained by the positioning antenna. And when the collection vehicle is located indoors, especially in underground parking lots, the positioning signal is often lost. Therefore, the positioning antenna can acquire accurate time information and position information before the collection vehicle enters the room. Thereafter, a RTC (Real Time Clock) inside the positioning antenna runs. Therefore, after the collection vehicle enters the room, the positioning antenna can also synchronously time other equipment in the device. Meanwhile, the acceleration (angular acceleration and linear acceleration), the angular velocity and the linear velocity in the running process of the collected vehicle can be obtained through the inertial measurement unit, so that the indoor positioning of the device is realized.

It can be understood that the user can select the specification models of the first laser radar, the second laser radar, the image acquisition device, the positioning antenna, the inertial measurement unit and the like according to actual conditions so as to meet different requirements. In order to ensure that the first laser radar 2 can acquire more comprehensive environmental structure information, the height of the first laser radar 2 on the mounting platform 1 is generally higher than the height of other equipment on the mounting platform 1, so that the shielding influence generated by other equipment is reduced or avoided. Meanwhile, the structure of the mounting platform shown in fig. 1 is merely illustrative and not limited in this application.

The device for collecting the map in the embodiment can collect the environmental structure information around the device through the first laser radar which is horizontally arranged; the second laser radar and the image acquisition equipment which are arranged in an inclined mode can acquire ground information around the device; the current time information can be accurately acquired through the positioning antenna so as to carry out time service; and the position and attitude information of the device can be measured through the inertial measurement unit. Combining these data allows the positioning of the device and thus the determination of the position information of the device. The device in the device can be fixed on the roof of the collection vehicle through the mounting platform. The device with the structure can automatically acquire map data, thereby improving the convenience of data acquisition and being beneficial to improving the generation efficiency of the map.

In some optional implementation manners of this embodiment, the front end and the rear end may be two ends facing the direction of the head and the direction of the tail of the collection vehicle, respectively. Namely, the front end of the mounting platform 1 is one end of the mounting platform 1, which is positioned at the head of the collecting vehicle; the rear end of the mounting platform 1 is one end of the mounting platform 1, which is positioned at the tail of the collection vehicle. In addition, since the head of a typical collection vehicle (e.g., a common car) is longer than the tail of the vehicle, in order to reduce the structural influence of the collection vehicle, as shown in fig. 1, the second lidar 4 may be located at the rear end of the mounting platform 1. And the working surface of the second lidar 4 is inclined towards the ground. This allows the second lidar 4 to collect more ground information.

At this time, in order to avoid interference between second laser radar 4 and first laser radar 2, spacer 8 may be provided between second laser radar 4 and first laser radar 2. As shown in fig. 1, the isolation plate 8 may be disposed near the front end of the second lidar 4, and the height of the isolation plate 8 on the mounting platform 1 is not lower than the height of the second lidar 4 on the mounting platform. I.e. the spacer 8 is located at the front end of the second lidar 4 and abuts the second lidar 4. That is, the second lidar 4 is mainly used for collecting the rear view image data (i.e. the vehicle tail ground data), and the front view image data can be collected by the first lidar 2. Therefore, the shielding is generated by arranging the isolation plate 8, so that the forward-looking picture data collected by the second laser radar 4 is artificially lost.

It should be noted that the relative position between first lidar 2 and second lidar 4 may be fixed. For example, as shown in fig. 1, the first laser radar 2 is fixed at a middle position of the mounting platform 1 (i.e., a position near the middle of the front and rear of the roof), and the shape and size of the first base 3 are fixed. Meanwhile, the second base 5 is a slant base of a fixed shape and size. At this time, the second laser radar 4 is installed on the inclined surface of the second base 5, and the second laser radar 4 may be obliquely fixed to the rear end of the installation platform 1. Therefore, only initial parameter calibration is needed to be carried out on the device, and calibration operation can be omitted in the subsequent use process, so that the operation process is simplified. And the partition plate 8 may be fixed to the second base 5. This allows both the shielding function and the reduction in size and weight of the partition plate 8, thereby contributing to the reduction in the overall weight of the device.

Optionally, the first base 3 is adjustable in height in order to increase the applicability of the device. For example, the first base 3 may have a conventional telescopic structure. For another example, the first base 3 and the mounting platform 1 may be connected by a screw, so that the height adjustment is realized by rotating the screw. In this way, the height of the first base 3, and thus the height of the first lidar 2 from the roof of the collection vehicle, can be adjusted according to the roof structure of different collection vehicles. And/or the second mount 5 is adjustable in at least the pitch direction. For example, the inclined surface of the second base is hinged to the side fixed to the mounting platform. Meanwhile, a plurality of clamping grooves are formed in the other side face of the second base in the height direction and used for fixing the inclined face of the second base. At the moment, the inclined plane is fixed at different clamping grooves, so that the included angle between the inclined plane and the mounting platform can be adjusted, and the adjustment of the pitching angle is realized. Therefore, the inclination angle of the second laser radar 4 can be adjusted according to different vehicle tail structures of the collected vehicles, and therefore more ground information can be collected. Therefore, the installation flexibility of the device can be improved, and the device can be suitable for more collection vehicles.

It should be noted that the heights of the first and second laser radars 2 and 4 on the mounting platform 1 (i.e., the roof of the collecting vehicle) are not too high. After the device in the embodiment of the application is installed, the overall height of the collecting vehicle does not exceed the corresponding height limit requirement generally, so that the laser radar is prevented from being damaged due to collision with the height limit fence.

Further, as shown in fig. 1-3, the front end of the mounting platform 1 may be provided with a guard bar 9. The height of the guard bar 9 above the mounting platform 1 may not be less than the target height. Wherein the target height may be the maximum height among the heights of the first lidar 2, the second lidar 4, and the partition plate 8 on the mounting platform 1. That is, the height of guard bar 9 is not lower than the height of first lidar 2, the height of second lidar 4, and the height of spacer 8. In this way the guard bar 9 can protect other equipment on the mounting platform 1. In some application scenarios, a detection sensor may also be mounted on the surface of the guard bar 9 facing in the direction of the nose of the collecting vehicle. Thus, when the guard bar 9 collides with another object, the detection sensor can send out a warning signal.

Further, as shown in fig. 1, the mounting platform 1 may be provided with a mounting baseplate 10 perpendicular to the advancing direction of the harvesting vehicle. I.e. the mounting baseplate 10 and the mounting platform 1 are perpendicular to each other. The mounting base plate 10 and the mounting platform 1 may be fixedly connected (e.g., welded) or detachably connected (e.g., bolts and nuts). The image pickup devices 6 may be symmetrically fixed to both ends of the mounting baseplate 10. At this time, the length of the mounting baseplate 10 may be generally smaller than the width of the capturing vehicle to avoid damage to the image capturing apparatus 6 by collision during driving. The image capturing device 6 may be various devices having an image capturing function, such as a camera or a video camera, among others. As an example, the image acquisition device 6 may comprise a small, lightweight motion camera, contributing to a reduction in the overall size and weight of the apparatus.

Here, the relative position between the image-capturing device 6 and the other devices (e.g., the first and second lidar) may be fixed. For example, as shown in fig. 1 or 3, the image capturing device 6 may be fixed to the mounting base plate 10 by a fixing member 11. The mounting baseplate 10 is formed with a recess at a position corresponding to the image pickup device 6. The image acquisition device 6 is placed in the groove, and the pressing sheet on the fixing piece 11 is rotated to the position above the image acquisition device 6, so that the fixation can be realized.

Optionally, to further increase the applicability of the device, the mounting plate 10 may be telescopically adjustable in the length direction to adjust the distance between the image capturing apparatus 6 and the sides of the body of the capturing vehicle. And/or the image acquisition equipment 6 can be fixedly connected with the installation bottom plate 10 through a third base. Wherein the third mount is adjustable in at least a pitch direction. Therefore, the vehicle can be adjusted according to different collected vehicles, so that the shielding influence of the vehicle body on the collected images is avoided, and the image collecting equipment 6 is ensured to collect more ground image information.

As an example, the third mount may employ the adjustable structure of the second mount described above. As also shown in fig. 4, the third mount may include a mount a and a mount B. The fixing seat A can be fixedly connected with the mounting bottom plate. The fixing base B can be fixedly connected with the image acquisition equipment. Meanwhile, the fixing seat B is rotatably connected with the fixing seat A. Therefore, the pitching angle can be adjusted by adjusting the rotation angle of the fixing seat B relative to the fixing seat A.

In some embodiments, as shown in fig. 1, both ends of the mounting baseplate 10 and/or the rear end of the mounting platform 1 may be mounted with a stationary base 12 on the surface facing the roof of the harvesting vehicle. The stationary base 12 is adjustable at least in the height direction. After the device is installed on the roof, the height of the stationary base 12 can be adjusted so that it is in contact with the roof. Therefore, the mounting platform and the parts mounted on the mounting platform are more stable, and the device is favorable for reducing the jitter generated in the running process of the collecting vehicle. As an example, in order to adapt to different vehicle type structures, the lower end of the fixed base 12 can rotate by 360 degrees, so that the fixed base can better fit with the roof. Also, to facilitate removal and installation of the device, the stationary base 12 may include a magnetic base and/or a vacuum chuck base.

Alternatively, the positioning antenna may be removably secured to the roof or mounting platform 1 of the harvesting vehicle. The detachable fixing means may include a magnetic attraction means. Therefore, the positioning antenna can be disassembled and assembled according to actual conditions, and the installation flexibility is improved. At this time, the positioning antenna may provide time for the first laser radar 2, the second laser radar 4, the image capturing device 6, and the inertial measurement unit 7 synchronously. It is understood that, but not limited to, one positioning antenna may be used to time multiple devices, so that errors caused by multi-antenna time service may be avoided. In addition, in order to better achieve the position posture positioning of the apparatus, as shown in fig. 2, the inertial measurement unit 7 may be horizontally installed directly below the first laser radar 2.

It should be noted that various detachable structures can be adopted in the embodiment of the present application to fix the mounting platform 1 to the roof of the collecting vehicle. For example, as shown in fig. 1, the front and the rear of the mounting platform 1 may be respectively provided with a sliding piece 13. At this time, the two sliding pieces 13 can be pushed and fixed in the sliding grooves of the two transversely parallel supporting frames of the roof, the whole platform is adjusted to the middle part of the roof from left to right, and the whole device can be fixed with the roof by screwing the fastening knob 15. In addition, the mounting platform 1 is provided with an adjusting chute 14 at a position corresponding to the sliding sheet 13, so as to adjust the front and rear positions of the sliding sheet 13. This allows for more sized support brackets to be accommodated so that the device is mounted in the central region of the roof as much as possible.

The embodiment of the application also provides a system for collecting the map. The system may comprise a power supply device, a control device and an apparatus for collecting maps as described in any of the embodiments above. The control device may be various electronic devices with a display screen, such as a tablet computer, a notebook computer, and the like.

In this embodiment, the power supply device may be electrically connected to the control device and the apparatus to provide a stable power supply to the control device and the apparatus. The control device may be communicatively coupled to the apparatus to control the operating state of the apparatus. And in the process of collecting the driving of the vehicle, the control equipment can also receive the data collected by the device and generate a map according to the received data. The map may include at least one of the following information: spatial structure information, lane information, and parking space information. For example, the collection vehicle may travel along various lanes within the parking lot. At this time, the control device may receive the parking lot data collected by the apparatus, and generate a parking lot map according to the received parking lot data. The parking lot map herein may include: at least one of spatial structure information, lane information, and parking space information of the parking lot.

By way of example, reference may be made to fig. 5, which is a schematic structural diagram illustrating an embodiment of the system for collecting a map provided by the present application.

In fig. 5, the power supply device may be electrically connected to the control device, the first lidar, the second lidar and the image acquisition device. Meanwhile, the control device may be in communication with the first lidar, the second lidar, the image acquisition device, and an Inertial Measurement Unit (IMU). In this way, the control device can not only control the devices that are in communication connection with the control device, for example, control the image capturing device to start or stop shooting, but also store data captured by these devices. As can be seen from fig. 5, the control device may also supply power to the IMU during communication therewith, for example using a USB (Universal Serial Bus) connection. In addition, the positioning antenna can be in communication connection with the first laser radar and the second laser radar so as to carry out synchronous time service. At the same time, the first lidar or the second lidar may supply power to the positioning antenna.

The map generated in the embodiment of the present application may be a two-dimensional map or a three-dimensional map. The format of the map may include, but is not limited to, the data formats of GDF, KIWI, and NavTech. Gdf (geographic data file) is a spatial data standard expressed by the european traffic network, and is used for describing and transmitting data related to road networks and roads. The KIWI format is an electronic data format specially aiming at automobile navigation, and aims to provide a general storage format of electronic map data so as to meet the requirements of embedded application on rapidness, accuracy and high efficiency. The format is public and can be used by anyone. The data format of the NavTech is that a SDAL compiler can convert general electronic map data into an SDAL format, and then the SDAL format data can be called by an SDAL program interface to be used for various vehicle navigation applications. The SDAL format provides optimization for fast map query and display, can improve path analysis and calculation speed, and can store high-quality voice data to provide voice prompt for users. Standards for the SDAL format are also disclosed.

The system for collecting the map provided by the embodiment can collect map data on a large scale, and can automatically, quickly, comprehensively and accurately acquire data (such as parking lot data). The acquired data are processed by the control device, and a more detailed map can be generated, such as information including an environment space structure, specific distribution and number of all parking spaces, and the like.

In addition, the embodiment of the application also provides a vehicle for collecting the map, which comprises the device for collecting the map described in the above embodiments. The device can be fixed on the roof of a vehicle through a mounting platform. Meanwhile, a power supply system (such as a battery) of the vehicle may be electrically connected to the device to provide a stable power to the device.

In some embodiments, the vehicle may further include a control device. The control device may be communicatively coupled to the apparatus and electrically coupled to a power supply system of the vehicle. The control device may be provided in the vehicle at this time. Therefore, the driver can conveniently operate the control equipment to execute the control program, and the running state of each equipment can be conveniently monitored. As an example, the control device may be an in-vehicle terminal of a vehicle.

The vehicle for collecting the map provided by the embodiment only needs to travel once in the collection area, for example, each lane in the parking lot runs in a traversing manner, so that the parking lot data can be automatically, quickly, comprehensively and accurately obtained, and a more detailed parking lot map is generated, and the map comprises information such as the parking lot space structure, the specific distribution and the serial number of all parking lots. This can realize the collection of large-scale parking lot data. Moreover, the device is quick to disassemble and assemble, and the acquisition operation is simple. This can reduce time and labor costs and also contribute to an increase in the speed of updating maps, particularly parking lot maps.

It can be understood that the acquired map, such as a parking lot map, especially an indoor parking lot map, can be accessed to an electronic map product, so that the blank in the aspect of parking lot data is filled, and the data of the electronic map is more complete. Therefore, the electronic map can also provide parking services for the owner user, including parking lots, parking space information, parking navigation and the like, so as to solve the problem of difficult parking of the owner. Therefore, a large amount of time and energy can be saved for the car owner to find the parking lot and the parking space, efficient parking is achieved, and user experience is enriched and improved.

On the other hand, through the device, the system and the vehicle for collecting the map in the embodiment of the application, an accurate and complete parking lot map can be provided for a large-scale parking lot manager, so that resource management can be better performed. Meanwhile, the parking space state real-time monitoring information of the parking lot can be accessed into an electronic map and presented to a user, and the user can go out conveniently.

Further, the embodiment of the application also provides a vehicle navigation method, and the method can be used for a terminal and a server. Referring to fig. 6, a flowchart 600 of one embodiment of a vehicle navigation method provided herein is shown. The vehicle navigation method may include the steps of:

step 601, responding to the fact that the current position of the vehicle is located near the destination, and obtaining parking space state information of parking lots around the destination.

In the present embodiment, an execution subject of the vehicle navigation method (e.g., a vehicle-mounted terminal, a mobile phone, or a cloud server) may acquire parking space state information of a parking lot around a destination in a case where it is determined that a current position of a vehicle is located near the destination. Here, the vicinity mainly means that the distance between the current position of the vehicle and the position of the destination is not more than a preset distance (e.g., 500 m). Here, the surrounding may mean that the distance between the location of the parking lot and the location of the destination is not more than a preset distance (e.g., 800 m). Wherein, the preset distance can be set according to actual requirements. The parking space state information may be used to represent the parking space condition of the parking lot, and may include, for example, whether there is a free parking space, a number of the free parking space, and the like. The parking lot can be an overground parking lot or an underground parking lot.

In the present embodiment, the destination generally refers to an end point set in the electronic map by the user. The current position of the vehicle may be obtained by locating the vehicle. The positioning can be realized by using mobile phone positioning or vehicle navigation positioning. That is, when a user driving a vehicle navigates a travel route using an electronic map on a car navigation or mobile phone, the execution body may determine a destination of the vehicle and may acquire a current location of the vehicle in real time.

Step 602, according to the acquired parking space state information of the parking lot, selecting a parking lot with an idle parking space, and acquiring a parking lot map of the selected parking lot.

In this embodiment, according to the parking space status information of the parking lot obtained in step 601, the execution subject may first screen the parking lots around the destination to reject the parking lot with a full parking space. And then, selecting the parking lot from the remaining parking lots with the free parking spaces, so as to obtain the parking lot map of the selected parking lot. The parking lot map may be acquired by the apparatus for acquiring a map described in the above embodiments.

The manner of selection here is not limiting in the present application. For example, the parking lot closest to the destination (or the current position of the vehicle) may be selected based on the distance between the parking lot and the destination. For example, to ensure that a vehicle can be parked successfully, a parking lot with a large number of vacant parking spaces may be selected according to the number of vacant parking spaces in the parking lot. Again, for example, it may be selected according to a weighting algorithm for the two cases. Or, the execution subject may send the screened relevant information of the parking lot to the user for selection by the user, and receive a selection operation of the user.

Step 603, selecting an idle parking space according to the acquired parking lot map, and generating navigation information from the current position of the vehicle to the selected idle parking space.

In this embodiment, according to the parking lot map obtained in step 602, the execution subject may select an empty parking space, so that the position information of the selected empty parking space may be determined. Therefore, the current position of the vehicle can be used as a starting point, the selected position information of the free parking space is used as an end point, and corresponding navigation information is generated. Again, the manner of selection is not limiting. For example, a vacant space closer to the entrance (or exit) of the parking lot may be selected. Also for example, a manual selection may be received.

Step 604, the generated navigation information is pushed to the user driving the vehicle.

In this embodiment, the executing agent may push the navigation information generated in step 603 to the user driving the vehicle. Therefore, the navigation information can be displayed on the electronic map of the vehicle-mounted terminal or the mobile phone, so that a user can drive the vehicle to the selected free parking space according to the navigation information to realize parking.

In the vehicle navigation method in this embodiment, the parking lot map generated by the device in each embodiment is used for vehicle navigation, so that the proportion of travel time occupied by the parking space searching time can be greatly reduced. Meanwhile, the parking pressure at a destination (such as a large supermarket or a shopping mall) can be relieved, and the traffic jam phenomenon caused by excessive concentration of vehicles is reduced or avoided.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.