Method, apparatus, device and medium for detecting environmental change

Patent metadata

Field	Value
Publication number	US-11466992-B2
Application number	US-202016806445-A
Country	US
Kind code	B2
Filing date	Mar 2, 2020
Priority date	Mar 2, 2020
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

The present disclosure provides a method, an apparatus, a computing device and a computer readable storage medium for detecting an environmental change, and relates to the field of autonomous driving. The method obtains a global map for an area and a first local map built in real time for a sub-area in the area; and determines an environmental change in the first sub-area by comparing the first local map and the global map and determining a first probability of the environmental change. Techniques of the present disclosure can automatically detect environmental changes that affect the positioning of autonomous driving, thereby facilitating the updating of positioning maps.

First claim

We claim:

1. A method, comprising:
obtaining a global map for an area and a first local map built at a first time for a first sub-area in the area; and
determining an environmental change in the first sub-area by comparing the first local map and the global map and determining a first probability of the environmental change,
wherein the first local map is built based on point cloud data including first height information and first laser reflection information about a first plurality of points in the first sub-area,
wherein the global map divides the area into a plurality of grids each containing a plurality of points and records height information and laser reflection information for the plurality of point in each of the plurality of grids, and
wherein the determining the first probability includes:
determining, from the plurality of grids, a grid corresponding to the first, sub-area by projecting the first local map into the plurality of grids;
determining, from the global map, second height information and second laser reflection information of the plurality of points in the grid;
determining a first difference between the first height information and the second height information and a second difference between the first laser reflection information and the second laser reflection information; and
determining the first probability based on the first difference and the second difference.

2. The method of claim 1 , wherein the determining the first probability comprises:
determining, based on the first difference, a first conditional probability of the environmental change;
determining, based on the second difference, a second conditional probability of the environmental change; and
determining the first probability based on at least the first conditional probability and the second conditional probability.

3. The method of claim 1 , further comprising:
obtaining a second local map built at a second time for the first sub-area, the second time being later than the first time;
determining, by comparing the second local map and the global map, a second probability of the environmental change; and
updating a probability of the environmental change based on the second probability.

4. The method of claim 1 , wherein the area comprises a plurality of sub-areas including the first sub-area and at least one second sub-area, and the method further comprises:
obtaining at least one third local map built for the at least one second sub-area;
determining, by comparing the at least one third local map with the global map respectively, respective third probability of environmental change in each of the at least one second sub-area;
determining whether the global map is to be updated based on at least the first probability and the respective third probability of environmental change in the at least one second sub-area; and
in response to determining that the global map is to be updated, updating the global map with at least part of the first local map and the at least one third local map.

5. The method of claim 4 , wherein the determining whether the global map is to be updated comprises:
determining a set of sub-areas from the plurality of sub-areas, wherein a probability of an environmental change in each of the set of sub-areas exceeds a threshold probability; and
in response to a dimension of a connected area that contains at least part of the set of sub-areas exceeding a threshold dimension, determining that the global map is to be updated.

6. The method of claim 5 , wherein the updating the global map comprises:
determining, from the first local map and the at least one third local map, at least part of local maps corresponding to the connected area; and
updating the global map with the at least part of local maps.

7. A computing device, comprising:
one or more processors; and
a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the computing device to perform acts comprising:
obtaining a global map for an area and a first local map built at a first time for a first sub-area in the area; and
determining an environmental change in the first sub-area by comparing the first local map and the global map and determining a first probability of the environmental change,
wherein the first local map is built based on point cloud data including first height information and first laser reflection information about a first plurality of points in the first sub-area,
wherein the global map divides the area into a plurality of grids each containing a plurality of points and records height information and laser reflection information for the plurality of points in each of the plurality of grids, and
wherein the determining the first probability includes:
determining, from the plurality of grids, a grid corresponding to the first sub-area by projecting the first local map into the plurality of grids;
determining, from the global map, second height information and second laser reflection information of the plurality of points in the grid;
determining a first difference between the first height information and the second height information and a second difference between the first laser reflection information and the second laser reflection information; and
determining the first probability based on the first difference and the second difference.

8. The computing device of claim 7 , wherein the determining the first probability comprises:
determining, based on the first difference, a first conditional probability of the environmental change;
determining, based on the second difference, a second conditional probability of the environmental change; and
determining the first probability based on at least the first conditional probability and the second conditional probability.

9. The computing device of claim 7 , wherein the acts further comprise:
obtaining a second local map built at a second time for the first sub-area, the second time later than the first time;
determining, by comparing the second local map and the global map, a second probability of the environmental change; and
updating a probability of the environmental change based on the second probability.

10. The computing device of claim 7 , wherein the area comprises a plurality of sub-areas including the first sub-area and at least one second sub-area, and the acts further comprise:
obtaining at least one third local map built for the at least one second sub-area;
determining, by comparing the at least one third local map with the global map respectively, respective third probability of environmental change in each of the at least one second sub-area;
determining whether the global map is to be updated based on at least the first probability and the respective third probability of environmental change in the at least one second sub-area; and
in response to determining that the global map is to be updated, updating the global map with at least part of the first local map and the at least one third local map.

11. The computing device of claim 10 , wherein the determining whether the global map is to be updated comprises:
determining a set of sub-areas from the plurality of sub-areas, wherein a probability of an environmental change in each of the set of sub-areas exceeds a threshold probability; and
in response to a dimension of a connected area that contains at least part of the set of sub-areas exceeding a threshold dimension, determining that the global map is to be updated.

12. The computing device of claim 11 , wherein the updating the global map comprises:
determining, from the first local map a

Assignees

• Beijing Baidu Netcom Sci & Tech Co Ltd

Inventors

• Gao Hang
• Ding Wendong
• Hou Shenhua
• Wan Guowei
• Song Shiyu

Classifications

• G01C21/3881

  Tile-based structures · CPC title

• G01C21/3859 Primary

  Differential updating map data · CPC title

• G01C21/32 Primary

  Structuring or formatting of map data · CPC title

• G01C21/3863

  Structures of map data · CPC title

• G01C21/3804 Primary

  Creation or updating of map data · CPC title