Vehicle trajectory determination method, storage medium, and vehicle

Abstract

The present application relates to the technical field of vehicle positioning, and in particular provides a vehicle trajectory determination method, a storage medium, and a vehicle, applied to a multistorey car park. The method comprises: obtaining current height information of a vehicle in the multistorey car park; obtaining current traveling state information of the vehicle in the multistorey car park; and on the basis of the current height information and the current traveling state information, obtaining a traveling trajectory of the vehicle in the multistorey car park. The technical solution provided by the present application can more conveniently obtain a more accurate vehicle trajectory at a lower cost.

Description

Vehicle trajectory determination method, storage medium and vehicle Technical Field

[0001] This application claims priority to Chinese patent application No. 202311727747.2, filed on December 14, 2023, entitled “Vehicle Trajectory Determination Method, Storage Medium and Vehicle”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Background Art

[0002] Currently, satellite positioning technology is generally used to locate vehicles in real time to obtain vehicle tracks. However, in places where satellite signals cannot be received (such as underground multi-story parking lots), other methods need to be used to locate vehicles.

[0003] When satellite signals are unavailable, existing technologies typically use cameras, barometers, and other devices to locate the vehicle's altitude by measuring parameters such as its height and the distance from the roof to the ground. These technologies also employ methods such as indoor base stations to locate the vehicle horizontally, thereby determining its trajectory. However, in practice, these methods are computationally complex, resource-intensive, and slow, and they also fail to produce accurate positioning results, and thus, the vehicle's trajectory. Furthermore, existing technologies require the deployment of multiple measurement devices, resulting in high positioning costs and limiting widespread application.

[0004] Summary of the Invention

[0005] In order to solve the above technical problems, the present application proposes a vehicle trajectory determination method, a storage medium and a vehicle, which can obtain a more accurate vehicle trajectory more conveniently at a lower cost.

[0006] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0007] In a first aspect, the present application provides a vehicle trajectory determination method, applied to a multi-storey car park, the method comprising:

[0008] obtaining current height information of the vehicle in the multi-storey car park;

[0009] Acquiring current driving status information of the vehicle in the multi-storey parking lot;

[0010] A driving trajectory of the vehicle in the multi-story parking lot is obtained based on the current height information and the current driving state information.

[0011] In some embodiments, the vehicle is equipped with a posture sensor; and obtaining the current height information of the vehicle in the multi-story parking lot includes:

[0012] The current height information of the vehicle in the multi-story parking lot is acquired by the posture sensor.

[0013] In some embodiments, obtaining the current driving status information of the vehicle in the multi-storey parking lot includes:

[0014] Acquiring current position information of the vehicle in the multi-story parking lot;

[0015] Based on the current posture information, obtaining a current pitch angle of the vehicle;

[0016] Based on the current pitch angle, current driving state information of the vehicle in the multi-story parking lot is obtained; wherein the current driving state information includes: whether the vehicle is currently going up or down stairs, whether the vehicle has completed going up or down stairs, and whether the vehicle is currently traveling on a flat area.

[0017] In some embodiments, obtaining the current driving state information of the vehicle in the multi-story parking lot based on the current pitch angle includes:

[0018] Determining whether the current pitch angle is greater than a first preset angle threshold;

[0019] When the current pitch angle is greater than the first preset angle threshold, it is determined that the vehicle is currently going up or down stairs.

[0020] In some embodiments, obtaining the current driving state information of the vehicle in the multi-story parking lot based on the current pitch angle includes:

[0021] Determining whether the current pitch angle is greater than a second preset angle threshold;

[0022] When the current pitch angle is not greater than the second preset angle threshold, determining whether a flag for recording that the vehicle is going up or down stairs is true;

[0023] When the flag is not true, it is determined that the vehicle is currently traveling in a flat area.

[0024] In some embodiments, obtaining the current driving state information of the vehicle in the multi-story parking lot based on the current pitch angle includes:

[0025] Determining whether the current pitch angle is greater than a second preset angle threshold;

[0026] When the current pitch angle is not greater than the second preset angle threshold, determining whether a flag for recording that the vehicle is going up or down stairs is true;

[0027] When the flag is true, it is determined that the vehicle has currently completed going up and down stairs.

[0028] In some embodiments, obtaining the driving trajectory of the vehicle in the multi-story parking lot based on the current height information and the current driving state information includes:

[0029] Optimizing the current height information based on the current driving state information to obtain optimized height information;

[0030] Based on the optimized height information, a driving trajectory of the vehicle in the multi-story parking lot is obtained.

[0031] In some embodiments, the current driving state information includes: whether the user is currently going up or down stairs; and optimizing the current height information based on the current driving state information to obtain optimized height information includes:

[0032] When the vehicle is currently going up or down stairs, obtaining the height information of the vehicle at the start time of going up or down stairs;

[0033] Determining whether the vehicle is currently ascending or descending based on the height information of the vehicle at the start time of ascending or descending the stairs and the current height information;

[0034] When the vehicle is currently ascending a staircase, the current height information is optimized so that the height value of the vehicle during the current ascending process increases linearly;

[0035] When the vehicle is currently going downstairs, the current height information is optimized so that the height value of the vehicle decreases linearly during the current going downstairs process.

[0036] In some embodiments, the current driving state information includes: whether the person has completed going up or down stairs; and optimizing the current height information based on the current driving state information to obtain the optimized height information includes:

[0037] When the vehicle has completed going up and down stairs, obtaining the height information of the vehicle at the time when the going up and down stairs action started;

[0038] Based on the height information of the vehicle at the start of the stair going up and down action and the current height information, obtaining a height change value of the vehicle after completing the stair going up and down action;

[0039] Determining whether the height change value is greater than a preset height threshold;

[0040] When the height change value is greater than the preset height threshold, the current height information is optimized based on a preset standard height to obtain the optimized height information; wherein the preset standard height is used to reflect the height of a predetermined floor plan area of ​​the multi-story parking lot.

[0041] In some embodiments, there are multiple preset standard heights; the current height information includes: a current height value using the same height measurement method as the preset standard height; optimizing the current height information based on the preset standard height to obtain the optimized height information includes:

[0042] Calculating the deviation between each of the preset standard heights and the current height value to obtain a plurality of first deviation values;

[0043] Selecting a preset standard height corresponding to a minimum value from the plurality of first deviation values ​​as a reference height;

[0044] Calculating a deviation between the reference altitude and the current altitude as a second deviation;

[0045] Determining whether the second deviation value is less than a first preset deviation threshold;

[0046] When the second deviation value is less than the first preset deviation threshold, the reference altitude is assigned to the current altitude value to optimize the current altitude value.

[0047] In some embodiments, the method further comprises:

[0048] Determining whether each of the first deviation values ​​is greater than a second preset deviation threshold;

[0049] When each of the first deviation values ​​is greater than the second preset deviation threshold, the current altitude value is saved as a newly added preset standard altitude.

[0050] In some embodiments, the current driving state information includes: whether the vehicle is currently traveling on a flat surface; the flat surface has a preset standard height for reflecting the height of the flat surface; the current altitude information includes: a current altitude value using the same altitude measurement method as the preset standard height; and optimizing the current altitude information based on the current driving state information to obtain optimized altitude information includes:

[0051] When the vehicle is currently traveling on a flat area, obtaining a preset standard height corresponding to the flat area as a reference height;

[0052] The current altitude value is optimized so that the current altitude value is within a preset value range centered on the reference altitude.

[0053] In some embodiments, obtaining the driving trajectory of the vehicle in the multi-story parking lot based on the optimized height information includes:

[0054] The optimized height information of the vehicle at each moment in the multi-story parking lot is spliced ​​to obtain a driving trajectory of the vehicle in the multi-story parking lot.

[0055] In some embodiments, the method further comprises:

[0056] The driving trajectory is displayed in a map or animation manner.

[0057] In a second aspect, the present application provides a computer-readable storage medium, which stores a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the vehicle trajectory determination method described in any one of the technical solutions in the above-mentioned first aspect.

[0058] In a third aspect, the present application provides a vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program, and when the computer program is executed by the at least one processor, the vehicle trajectory determination method described in any one of the technical solutions of the first aspect is implemented.

[0059] The vehicle trajectory determination method, storage medium, and vehicle provided in the embodiments of the present application obtain the current height information and current driving status information of the vehicle in the multi-story parking lot, and based on the current height information and the current driving status information, obtain the driving trajectory of the vehicle in the multi-story parking lot, so that the determination of the vehicle trajectory only needs to be carried out through the current height information and current driving status information of the vehicle, without the need to arrange additional measurement equipment as in the prior art. Therefore, the determination method is more convenient and the cost is lower. In addition, the present application jointly determines the vehicle trajectory based on the two factors of the current height information and the current driving status information of the vehicle, so the trajectory determination result is more accurate. It can be seen that the technical solution provided by the present application can obtain a more accurate vehicle trajectory more conveniently at a lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The disclosure of this application will become more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are merely for the purpose of illustrating this application and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the drawings represent similar components, where:

[0061] FIG1 is a flow chart showing the main steps of a vehicle trajectory determination method according to an embodiment of the present application;

[0062] FIG2 is a flowchart of a program implementation of a vehicle trajectory determination method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0064] In the description of this application, "module" and "processor" may include hardware, software, or a combination of both. A module may include hardware circuitry, various suitable sensors, communication ports, and memory. It may also include software components, such as program code, or a combination of software and hardware. A processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. A processor has data and / or signal processing capabilities. A processor may be implemented in software, hardware, or a combination of both. Non-transitory computer-readable storage media include any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" refers to all possible combinations of A and B, such as only A, only B, or both A and B. The terms "at least one of A or B" or "at least one of A and B" have similar meanings to "A and / or B" and may include only A, only B, or both A and B. The singular forms "one" and "the" may also include the plural forms.

[0065] When satellite signals are unavailable, existing technologies typically use cameras, barometers, and other devices to locate the vehicle's altitude by measuring parameters such as its height and the distance from the roof to the ground. These technologies also employ methods such as indoor base stations to locate the vehicle horizontally, thereby determining its trajectory. However, in practice, these methods are computationally complex, resource-intensive, and slow, and they also fail to produce accurate positioning results, and thus, the vehicle's trajectory. Furthermore, existing technologies require the deployment of multiple measurement devices, resulting in high positioning costs and limiting widespread application.

[0066] In order to solve the above technical problems, the present application provides a method for determining vehicle trajectories in a multi-story parking lot. The method obtains the vehicle's current pitch angle and global height by acquiring the vehicle's posture information in real time, and by counting the range of changes in the pitch angle and height, the trajectories of the same layer are segmented, and a global prior height is added to the trajectories of the same layer. Then, the height is optimized to obtain a trajectory with no cumulative height offset. The optimized trajectory makes the judgment of the floor stratification more accurate. This method solves the technical problem of inaccurate vehicle trajectory determination caused by excessive drift of the positioning height when the vehicle cannot receive satellite signals and has no global height prior.

[0067] Based on the above ideas, the present application provides a vehicle trajectory determination method, which is applied to a multi-story parking lot. As shown in FIG1 , the vehicle trajectory determination method in an embodiment of the present application mainly includes the following steps S101 to S103 .

[0068] Step S101, obtaining the current height information of the vehicle in the multi-storey parking lot;

[0069] In order to conveniently and accurately obtain the current height information of the vehicle in the multi-story parking lot, in this embodiment, the vehicle is equipped with a posture sensor. Under this premise, obtaining the current height information of the vehicle in the multi-story parking lot in this embodiment includes: obtaining the current height information of the vehicle in the multi-story parking lot using the posture sensor.

[0070] In this embodiment, a posture sensor is installed on the vehicle to measure and monitor changes in the vehicle's posture. The sensor primarily includes an accelerometer, a gyroscope, a magnetometer, and other devices. The accelerometer measures the vehicle's linear acceleration, which can be integrated to calculate the vehicle's speed and position. The gyroscope measures the vehicle's angular velocity, which can be integrated to calculate the vehicle's angle and direction. The magnetometer measures the direction of the vehicle's magnetic field, which is used to determine the vehicle's direction.

[0071] In this embodiment, the current height information of the vehicle in the multi-storey parking lot may include the current height distance of the vehicle from the ground, and may also include the current height distance of the vehicle from the sea level. In actual applications, a specific height reference plane may be set according to actual conditions, and this embodiment does not impose any specific restrictions on this.

[0072] In this embodiment, the current height information of the vehicle in the multi-story parking lot can be an absolute value of the height of the vehicle from a certain reference plane, or a relative value of the height of the vehicle from a certain reference plane. In actual applications, the height measurement method to express this current height information can be determined based on actual conditions, and this embodiment does not impose any specific restrictions on this.

[0073] Step S102, obtaining current driving status information of the vehicle in the multi-storey parking lot;

[0074] In order to conveniently and accurately obtain the current driving status information of a vehicle in a multi-story parking lot, the method of obtaining the current driving status information of the vehicle in the multi-story parking lot described in this embodiment includes: obtaining the current posture information of the vehicle in the multi-story parking lot; obtaining the current pitch angle of the vehicle based on the current posture information; obtaining the current driving status information of the vehicle in the multi-story parking lot based on the current pitch angle; wherein the current driving status information includes: whether the vehicle is currently going up or down stairs, whether the vehicle has completed going up or down stairs, and whether the vehicle is currently driving on a flat area.

[0075] As described above, the vehicle in this embodiment is equipped with a posture sensor, which can obtain the vehicle's current posture information in real time. This posture information can then be used to calculate the vehicle's current pitch angle. Specifically, this embodiment can obtain the vehicle's current pitch angle in real time through the posture sensor, and further, based on this current pitch angle, can obtain the vehicle's current driving state information, i.e., the vehicle's driving state information at every moment in the multi-story parking lot.

[0076] In order to conveniently and accurately obtain the current driving status information of the vehicle in the multi-story parking lot, the present embodiment obtains the current driving status information of the vehicle in the multi-story parking lot based on the current pitch angle, including: determining whether the current pitch angle is greater than a first preset angle threshold; when the current pitch angle is greater than the first preset angle threshold, determining that the vehicle is currently going up or down stairs.

[0077] Specifically, the first preset angle threshold is a larger angle threshold. When the current pitch angle of the vehicle is greater than the angle threshold, it indicates that the vehicle is currently in a tilted state or is traveling in a tilted state. At this time, it can be determined that the vehicle is currently going up or down stairs.

[0078] In order to conveniently and accurately obtain the current driving status information of the vehicle in the multi-story parking lot, the present embodiment obtains the current driving status information of the vehicle in the multi-story parking lot based on the current pitch angle, including: determining whether the current pitch angle is greater than a second preset angle threshold; when the current pitch angle is not greater than the second preset angle threshold, determining whether a flag for recording that the vehicle is going up or down stairs is true; when the flag is not true, determining that the vehicle is currently traveling in a flat area.

[0079] In order to conveniently and accurately obtain the current driving status information of the vehicle in the multi-story parking lot, the present embodiment obtains the current driving status information of the vehicle in the multi-story parking lot based on the current pitch angle, including: determining whether the current pitch angle is greater than a second preset angle threshold; when the current pitch angle is not greater than the second preset angle threshold, determining whether a flag for recording that the vehicle is going up or down the stairs is true; when the flag is true, determining that the vehicle has currently completed going up or down the stairs.

[0080] Specifically, the second preset angle threshold is a smaller angle threshold. When the current pitch angle of the vehicle is less than the angle threshold, it indicates that the vehicle is currently in a horizontal state or is traveling in a horizontal state. At this time, it is necessary to further determine the value of the mark used to record that the vehicle is going up and down the stairs. If the value of the mark is true, that is, when the mark is true, it indicates that the system currently confirms that the vehicle is going up and down the stairs, and the system determines that it is currently in a horizontal state based on the current pitch angle of the vehicle. According to the above conditions, it can be determined that the vehicle has just completed the up and down action at this time, and the system has not had time to change the value of the above mark; if the value of the mark is false, that is, when the mark is not true (or the mark is false), it indicates that the system confirms that the vehicle is not currently going up and down the stairs, and the system determines that it is currently in a horizontal state based on the current pitch angle of the vehicle. According to the above conditions, it can be determined that the vehicle is currently traveling in a flat area.

[0081] In this embodiment, the flag used to record whether a vehicle is going up or down stairs can be pre-set. The system will set the flag to true or false under predetermined conditions during vehicle operation. When the value of the flag is true, it indicates that the system has confirmed that the vehicle is currently going up or down stairs; when the value of the flag is false, it indicates that the system has confirmed that the vehicle is not currently going up or down stairs.

[0082] The above-mentioned predetermined conditions can be set based on the actual driving conditions of the vehicle. In one embodiment, the above-mentioned predetermined conditions may include determining the current pitch angle of the vehicle. For example, when the current pitch angle of the vehicle is greater than a certain value, the system will set the flag to true; when the current pitch angle of the vehicle is less than a certain value, the system will set the flag to false. In actual applications, the value conversion of the flag may also be triggered based on other factors, which are not specifically limited in this embodiment.

[0083] It should be noted that in this embodiment, the flag can be used as a factor in determining the vehicle's current driving state, and the vehicle's current driving state can also be used as a factor in converting the value of the flag. In actual application, this can be implemented according to specific program code. Through the above method, the vehicle's current driving state can be determined more accurately and without error.

[0084] Step S103 : obtaining a driving trajectory of the vehicle in the multi-story parking lot based on the current height information and the current driving state information.

[0085] In order to more conveniently and accurately obtain the driving trajectory of a vehicle in a multi-story parking lot, the present embodiment provides for obtaining the driving trajectory of the vehicle in the multi-story parking lot based on the current height information and the current driving status information, including: optimizing the current height information based on the current driving status information to obtain optimized height information; and obtaining the driving trajectory of the vehicle in the multi-story parking lot based on the optimized height information.

[0086] In this embodiment, the vehicle's altitude information at each moment can be used to obtain a rough estimate of the vehicle's driving trajectory in a multi-story parking lot. However, if the data acquisition resolution is not high, this driving trajectory may not be able to clearly distinguish whether the vehicle has reached a new floor. For example, in some cases, excessive fluctuations in the collected data may cause the system to misjudge the current altitude. Therefore, this embodiment optimizes the vehicle's altitude information at each moment based on the vehicle's driving state information at each moment, constraining the vehicle's altitude information at each moment to within a reasonable numerical range. This allows for more accurate altitude information, and thus a more accurate driving trajectory.

[0087] As described above, the current driving state information of the vehicle described in this embodiment includes: whether the vehicle is currently going up or down stairs. In order to obtain the optimized height information more accurately, the current height information is optimized based on the current driving state information in this embodiment to obtain the optimized height information, including: when the vehicle is currently going up or down stairs, obtaining the height information of the vehicle at the start time of the current going up or down stairs; based on the height information of the vehicle at the start time of the current going up or down stairs and the current height information, determining whether the vehicle is currently going up or down stairs; when the vehicle is currently going up stairs, optimizing the current height information so that the height value of the vehicle in the current process of going up stairs increases linearly; when the vehicle is currently going down stairs, optimizing the current height information so that the height value of the vehicle in the current process of going down stairs decreases linearly.

[0088] Specifically, when the system determines that the vehicle is ascending or descending stairs, it further determines whether the vehicle is ascending or descending stairs based on the difference between the current altitude and the altitude at the start of the ascent or descent. When the difference between the current altitude and the altitude at the start of the ascent or descent is greater than 0, the vehicle is determined to be ascending stairs; when the difference between the current altitude and the altitude at the start of the ascent or descent is less than 0, the vehicle is determined to be descending stairs. When the vehicle is ascending stairs, the vehicle's current altitude information (e.g., the absolute altitude value of the vehicle's current altitude) is constrained to fall within a first predetermined range of values ​​so that the vehicle's altitude increases linearly during the ascent process. The first predetermined range of values ​​can be a range of altitude values ​​formed by the vehicle's altitude at the start of the ascent and the altitude at the end of the ascent. When the vehicle is descending stairs, the vehicle's current altitude information (e.g., the absolute altitude value of the vehicle's current altitude) is constrained to fall within a second predetermined range of values ​​so that the vehicle's altitude decreases linearly during the descent process. The second predetermined range of values ​​can be a range of altitude values ​​formed by the vehicle's altitude at the start of the descent and the altitude at the end of the descent. Through the above height constraint, the subsequently obtained vehicle trajectory can clearly show the vehicle's state of going upstairs or downstairs, that is, a more accurate vehicle trajectory can be obtained.

[0089] As described above, the current driving state information of the vehicle described in this embodiment includes: whether the vehicle has currently completed going up or down stairs. To more accurately obtain optimized height information, the current height information is optimized based on the current driving state information to obtain the optimized height information, including: when the vehicle has currently completed going up or down stairs, obtaining the vehicle's height information at the start of the going up or down stairs action; based on the vehicle's height information at the start of the going up or down stairs action and the current height information, obtaining the vehicle's height change after completing the going up or down stairs action; determining whether the height change value is greater than a preset height threshold; and when the height change value is greater than the preset height threshold, optimizing the current height information based on a preset standard height to obtain the optimized height information; wherein the preset standard height is used to reflect the height of a predetermined floor plan area of ​​the multi-story parking lot.

[0090] Specifically, the vehicle's height information at the time the going up and down stairs action begins may be the absolute height value of the vehicle at the time the going up and down stairs action begins, and the vehicle's current height information may be the vehicle's current absolute height value. Since there is a certain height difference between each floor, when the system determines that the vehicle has currently completed going up and down stairs, it can further confirm that the vehicle has indeed completed the going up and down stairs action by calculating the difference between the vehicle's height value at the time the going up and down stairs action begins and the vehicle's current height value, thereby avoiding system misjudgment. When the system confirms that the vehicle has indeed completed the going up and down stairs action, that is, when the vehicle has just reached a new floor, the standard height of the new floor will be used to optimize the vehicle's current height information obtained by the attitude sensor to obtain more accurate height information.

[0091] In this embodiment, there are multiple preset standard heights, and each preset standard height is used to reflect the height of a predetermined floor plan area corresponding to the preset standard height. The current height information of the vehicle described in this embodiment includes: the current height value of the vehicle using the same height measurement method as the preset standard height. In order to further accurately obtain the optimized height information, the current height information is optimized based on the preset standard height in this embodiment to obtain the optimized height information, including: calculating the deviation value between each of the preset standard heights and the current height value to obtain multiple first deviation values; selecting the preset standard height corresponding to the minimum value from the multiple first deviation values ​​as the reference height; calculating the deviation value between the reference height and the current height value as the second deviation value; judging whether the second deviation value is less than the first preset deviation threshold; when the second deviation value is less than the first preset deviation threshold, assigning the reference height to the current height value to optimize the current height value.

[0092] In order to more conveniently and accurately optimize the current height value of the vehicle obtained subsequently, the method described in this embodiment also includes: judging whether each of the first deviation values ​​is greater than a second preset deviation threshold; when each of the first deviation values ​​is greater than the second preset deviation threshold, saving the current height value as a newly added preset standard height.

[0093] In this embodiment, the above-mentioned method of optimizing the vehicle's current height value is also referred to as matching the vehicle's historical floor height. Specifically, the system sets a standard height corresponding to each floor in the multi-story parking lot based on the actual height value of each floor, obtaining multiple preset standard heights. Each preset standard height and its corresponding floor number are stored in a database. When the vehicle completes an upstairs or downstairs movement, that is, each time the vehicle enters a new floor a, the system searches the database for the floor b whose height is closest to the height of floor a obtained by the attitude sensor. If the height difference between floors a and b is not significant, the two floors are considered to be the same floor. The height of floor b (i.e., the pre-stored preset standard height of floor b) replaces the height of floor a (i.e., the current height value of the vehicle obtained by the attitude sensor), and the floor number of floor b replaces the floor number of floor a. If the height difference between floors a and b is significant, the two floors are considered to be different floors. In this case, the height of floor a is saved and a new, unique floor number is assigned to floor a.

[0094] As described above, the current driving status information of the vehicle described in this embodiment includes: whether the vehicle is currently driving on a flat area, and the flat area has a preset standard height for reflecting the height of the flat area. The current height information of the vehicle described in this embodiment includes: a current height value that uses the same height measurement method as the preset standard height. Under the above premise, the current height information is optimized based on the current driving status information to obtain the optimized height information, including: when the vehicle is currently driving on a flat area, obtaining the preset standard height corresponding to the flat area as the reference height; optimizing the current height value so that the current height value is within a preset value range centered on the reference height.

[0095] Specifically, when the vehicle is currently traveling on a flat surface, that is, on a certain floor of a multi-story parking garage, since each floor has a corresponding preset standard height, the current vehicle height value obtained by the attitude sensor is constrained based on the preset standard height, so that the current height value falls within a preset range centered on the preset standard height. This can prevent excessive fluctuations in the current vehicle height value, thereby obtaining a more accurate vehicle trajectory.

[0096] In order to more conveniently and accurately obtain the driving trajectory of a vehicle in a multi-story parking lot, the present embodiment provides for obtaining the driving trajectory of the vehicle in the multi-story parking lot based on the optimized height information, including: splicing the optimized height information of the vehicle at each moment in the multi-story parking lot to obtain the driving trajectory of the vehicle in the multi-story parking lot.

[0097] Specifically, the optimized height information of the vehicle at each moment in the multi-story parking lot corresponds to a specific position point with the time axis as the horizontal coordinate. Therefore, by splicing the above specific position points, the driving trajectory of the vehicle in the multi-story parking lot can be obtained.

[0098] In order to allow users to intuitively know the driving trajectory of the vehicle in the multi-story parking lot and improve user experience, the method described in this embodiment further includes: displaying the driving trajectory in the form of a map or animation.

[0099] That is, in this embodiment, the vehicle's driving trajectory can be displayed to the user to further enhance the user experience. Furthermore, this embodiment can also display the vehicle's current altitude information. The trajectory and current altitude information can be displayed in an animated or map-based format, or in other convenient user-friendly formats, and this embodiment does not impose any specific limitations on this.

[0100] FIG2 is a flowchart of a specific program implementation of the vehicle trajectory determination method according to this embodiment. As shown in FIG2 , the overall implementation process of vehicle trajectory determination includes the following steps:

[0101] 1. Use the attitude sensor to obtain the vehicle's position information, and use this information to calculate the vehicle's pitch angle and height;

[0102] 2. When the pitch angle is greater than the small threshold, the current keyframe is recorded and the pitch is further judged; the current keyframe is the current position information of the vehicle;

[0103] 3. When the pitch angle is greater than the maximum threshold and the stair-going / downstairs flag is false, the vehicle is considered to be traveling on stairs, i.e., going up or down stairs, and the vehicle's height at this time is recorded as h. The stair-going / downstairs flag is also set to true to prevent the system from triggering the flag value multiple times during a stair-going / downstairs process.

[0104] 4. When the pitch angle is less than the minimum threshold and the up / downstairs flag is false, it means the vehicle is currently traveling on a flat surface on a certain floor. At this point, the recorded keyframe and the current keyframe are constrained to the same plane. This means that all heights achieved by the vehicle in this flat surface are constrained to the same plane, so that they fall within a preset range centered on the preset standard height corresponding to the flat surface. The keyframe records are then cleared.

[0105] 5. When the pitch angle is less than the minimum threshold and the stair climbing / climbing flag is true, the vehicle has just completed a stair climbing / climbing maneuver. The stair climbing / climbing flag is reset to false, and a height-constrained optimization is performed for all historical keyframes. After the optimization is complete, the height of the current keyframe is read and subtracted from the recorded height to determine the height change during the climbing / climbing process. If this change exceeds the threshold, the climbing / climbing maneuver is considered successful. A height match is then performed against the historical floor heights. After the match is complete, the ground height constraint is updated to the height of the current keyframe, and the saved keyframe record is cleared.

[0106] Based on the above steps S101-S103, the present application can solve the technical problem of inaccurate vehicle trajectory determination caused by complex calculation, slow operation speed and inaccurate positioning when locating the vehicle height in the existing technology when no satellite signal is received.

[0107] The technical solution provided by the embodiment of the present application obtains the current height information and current driving status information of the vehicle in the multi-storey parking lot, and based on the current height information and the current driving status information, obtains the driving trajectory of the vehicle in the multi-storey parking lot, so that the determination of the vehicle trajectory can be carried out only through the current height information and current driving status information of the vehicle, without the need to arrange additional measurement equipment as in the prior art. Therefore, the determination method is more convenient and the cost is lower. In addition, the present application jointly determines the vehicle trajectory based on the two factors of the current height information and the current driving status information of the vehicle, so the trajectory determination result is more accurate. It can be seen that the technical solution provided by the present application can obtain a more accurate vehicle trajectory more conveniently at a lower cost.

[0108] The technical solution provided in the embodiment of the present application calculates the pitch angle and height of the current vehicle by reading the vehicle posture information, and uses these two variables to realize the judgment of "whether the vehicle is going up or down the stairs" and impose height constraints on the vehicle; for noise interference in the process, the method of saving key frames is adopted to ensure that the system does not misclassify the floors; in addition, a historical floor height matching strategy is designed to make the height prior more accurate.

[0109] The method provided in this application can achieve high-precision vehicle trajectory stratification in multi-story parking lots, provide vehicle height constraints, and solve the problem of excessive positioning height drift when satellite signals cannot be received and there is no global height prior.

[0110] Through the method provided in this application, a special stratification meter can also be designed and applied to the vehicle side to stratify vehicle trajectories in multi-story parking lots (especially underground parking lots) to accurately determine which trajectories belong to which floor.

[0111] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effect of the present application, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present application.

[0112] Furthermore, another aspect of the present application also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present application, the computer-readable storage medium can be configured to store a program for executing the vehicle trajectory determination method of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the above-mentioned vehicle trajectory determination method. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-transitory computer-readable storage medium.

[0113] Furthermore, another aspect of the present application provides a vehicle, which may include at least one processor and a memory communicatively connected to the at least one processor. The memory stores a computer program, which, when executed by the at least one processor, implements the vehicle trajectory determination method described in any of the above embodiments. The vehicle described in the present application may include a driving device, an intelligent vehicle, a robot, or other devices.

[0114] In some embodiments of the present application, the vehicle further comprises at least one sensor configured to sense information. The sensor is communicatively coupled to any of the processors described herein. Optionally, the vehicle further comprises an autonomous driving system configured to guide the vehicle to autonomously drive or provide assisted driving. The processor communicates with the sensor and / or autonomous driving system to implement the vehicle trajectory determination method described in any of the above embodiments.

[0115] Automated Driving Systems (ADS) refers to systems that continuously perform all dynamic driving tasks (DDT) within their operational domain design (ODD). Specifically, the system is only allowed to fully assume the responsibility of autonomous vehicle control under specified driving scenarios. When the vehicle meets the ODD conditions, the system is activated, replacing the human driver as the vehicle's primary driver. The DDT refers to the continuous lateral (left and right steering) and longitudinal motion control (acceleration, deceleration, and constant speed) of the vehicle, as well as the detection and response to objects and events in the vehicle's driving environment. The ODD refers to the conditions under which the automated driving system can safely operate. These conditions can include geographic location, road type, speed range, weather, time of day, and national and local traffic laws and regulations.

[0116] The program for executing the vehicle trajectory determination method of the above-described method embodiment can be divided into multiple subroutines, each of which can be loaded and executed by a processor to execute different steps of the vehicle trajectory determination method of the above-described method embodiment. Specifically, each subroutine can be stored in a different memory, and each processor can be configured to execute the programs in one or more memories to jointly implement the vehicle trajectory determination method of the above-described method embodiment. That is, each processor executes different steps of the above-described method embodiment to jointly implement the vehicle trajectory determination method of the above-described method embodiment.

[0117] The aforementioned multiple processors may be processors deployed on the same device. For example, the aforementioned vehicle may be composed of multiple processors, and the aforementioned multiple processors may be processors configured on the vehicle. Furthermore, the aforementioned multiple processors may be processors deployed on different devices. For example, the aforementioned vehicle may be a server cluster, and the aforementioned multiple processors may be processors on different servers in the server cluster.

[0118] It will be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment of the present application can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0119] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A vehicle trajectory determination method, characterized in that, Applied to a multi - storey car park, the method includes: Obtaining the current height information of the vehicle in the multi - storey car park; Obtaining the current driving state information of the vehicle in the multi - storey car park; Based on the current height information and the current driving state information, obtaining the driving trajectory of the vehicle in the multi - storey car park.

2. The vehicle trajectory determination method according to claim 1, characterized in that, The vehicle is equipped with an attitude sensor; the obtaining of the current height information of the vehicle in the multi - storey car park includes: Obtaining the current height information of the vehicle in the multi - storey car park through the attitude sensor.

3. The vehicle trajectory determination method according to claim 1, characterized in that, The obtaining of the current driving state information of the vehicle in the multi - storey car park includes: Obtaining the current pose information of the vehicle in the multi - storey car park; Based on the current pose information, obtaining the current pitch angle of the vehicle; Based on the current pitch angle, obtaining the current driving state information of the vehicle in the multi - storey car park; wherein, the current driving state information includes: whether the vehicle is currently going up or down a floor, whether the vehicle has completed going up or down a floor, and whether the vehicle is currently driving in a flat area.

4. The vehicle trajectory determination method according to claim 3, characterized in that, The obtaining of the current driving state information of the vehicle in the multi - storey car park based on the current pitch angle includes: Judging whether the current pitch angle is greater than a first preset angle threshold; When the current pitch angle is greater than the first preset angle threshold, determining that the vehicle is currently going up or down a floor.

5. The vehicle trajectory determination method according to claim 3, characterized in that, The obtaining of the current driving state information of the vehicle in the multi - storey car park based on the current pitch angle includes: Judging whether the current pitch angle is greater than a second preset angle threshold; When the current pitch angle is not greater than the second preset angle threshold, judging whether a flag for recording that the vehicle is going up or down a floor is true; When the flag is not true, determining that the vehicle is currently driving in a flat area.

6. The vehicle trajectory determination method according to claim 3, characterized in that, The obtaining of the current driving state information of the vehicle in the multi - storey car park based on the current pitch angle includes: Judging whether the current pitch angle is greater than a second preset angle threshold; When the current pitch angle is not greater than the second preset angle threshold, judging whether a flag for recording that the vehicle is going up or down a floor is true; When the flag is true, determining that the vehicle has currently completed going up or down a floor.

7. The vehicle trajectory determination method according to claim 1, characterized in that, The obtaining of the driving trajectory of the vehicle in the multi - storey car park based on the current height information and the current driving state information includes: Optimizing the current height information based on the current driving state information to obtain optimized height information; Based on the optimized height information, obtaining the driving trajectory of the vehicle in the multi - storey car park.

8. The vehicle trajectory determination method according to claim 7, characterized in that, The current driving state information includes: whether the vehicle is currently going up or down a floor; the optimizing of the current height information based on the current driving state information to obtain optimized height information includes: When the vehicle is currently going up or down a floor, obtaining the height information of the vehicle at the start time of the current going up or down a floor; Based on the height information of the vehicle at the start time of the current going up or down a floor and the current height information, determining whether the vehicle is currently going up or the vehicle is currently going down. When the vehicle is currently going upstairs, optimize the current height information so that the height value of the vehicle increases linearly during the current upstairs process; When the vehicle is currently going downstairs, optimize the current height information so that the height value of the vehicle decreases linearly during the current downstairs process.

9. The vehicle trajectory determination method according to claim 7, characterized in that,The current driving state information includes: whether the vehicle has completed going upstairs and downstairs; obtaining the optimized height information based on the current driving state information includes: When the vehicle has completed going upstairs and downstairs, obtain the height information of the vehicle at the start time of the going upstairs and downstairs action; Based on the height information of the vehicle at the start time of the going upstairs and downstairs action and the current height information, obtain the height change value of the vehicle after completing the going upstairs and downstairs action; Judge whether the height change value is greater than a preset height threshold; When the height change value is greater than the preset height threshold, optimize the current height information based on a preset standard height to obtain the optimized height information; wherein, the preset standard height is used to reflect the height of the predetermined floor plane area of the multi-story parking lot.

10. The vehicle trajectory determination method according to claim 9, wherein, There are multiple preset standard heights; the current height information includes: the current height value using the same height measurement method as the preset standard height; obtaining the optimized height information based on the preset standard height includes: Calculate the deviation value between each preset standard height and the current height value to obtain multiple first deviation values; Select the preset standard height corresponding to the minimum value from the multiple first deviation values as the reference height; Calculate the deviation value between the reference height and the current height value as the second deviation value; Judge whether the second deviation value is less than a first preset deviation threshold; When the second deviation value is less than the first preset deviation threshold, assign the reference height to the current height value to optimize the current height value.

11. The vehicle trajectory determination method according to claim 10, wherein, The method further includes: Judge whether each first deviation value is greater than a second preset deviation threshold; When each first deviation value is greater than the second preset deviation threshold, save the current height value as a newly added preset standard height.

12. The vehicle trajectory determination method according to claim 7, wherein, The current driving state information includes: whether the vehicle is currently driving in a plane area; the plane area has a preset standard height for reflecting the height of the plane area; the current height information includes: the current height value using the same height measurement method as the preset standard height; obtaining the optimized height information based on the current driving state information includes: When the vehicle is currently driving in a plane area, obtain the preset standard height corresponding to the plane area as the reference height; Optimize the current height value so that the current height value is within a preset numerical range centered on the reference height.

13. The vehicle trajectory determination method according to claim 7, wherein, Obtaining the driving trajectory of the vehicle in the multi-story parking lot based on the optimized height information includes: The optimized height information of the vehicle at each moment in the multi-story parking lot is spliced to obtain the driving trajectory of the vehicle in the multi-story parking lot.

14. The vehicle trajectory determination method according to claim 1, wherein, The method further includes: Displaying the driving trajectory in the form of a map or an animation.

15. A computer-readable storage medium, in which multiple program codes are stored, wherein, The program code is adapted to be loaded and run by a processor to execute the vehicle trajectory determination method according to any one of claims 1 to 14.

16. A vehicle, wherein, Comprising: At least one processor; And a memory communicatively connected to the at least one processor; Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the vehicle trajectory determination method according to any one of claims 1 to 14 is implemented.

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