Determination Method, Device and Computer-Readable Storage Medium for Electronic Fence of Vehicle

Abstract

The present application provides a method, apparatus and computer-readable storage medium for determining an electronic fence of a vehicle, relating to the technical field of vehicles, and capable of improving the predictability and adaptability of the electronic fence of the vehicle without increasing costs. The method includes: determining the position of a matching point of the vehicle's Global Positioning System (GPS) coordinates on a map; determining a first road segment on the road where the vehicle is located according to the information of the matching point position of the vehicle's GPS coordinates on the map; determining M first Operational Design Domain (ODD) road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment; processing the M first ODD road segments and / or N first non-ODD road segments to obtain the electronic fence of the vehicle, wherein the electronic fence of the vehicle is composed of x second ODD road segments and / or y second non-ODD road segments, the second ODD road segments are road segments for intelligent driving, and N, M, x, and y are all natural numbers, x ≤ M, and y ≤ N.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method and device for determining an electronic fence of a vehicle and a computer-readable storage medium. Background Art

[0002] In the intelligent driving of a vehicle, in order to determine the road sections where the vehicle can be intelligently driven under different usage environments (such as vehicle speed, geographical location, traffic conditions, road type, weather, and time, etc.), it is necessary to determine the electronic fence of the vehicle. Currently, there are generally two existing technologies that can determine the electronic fence of the vehicle.

[0003] Prior art 1: Real-time road section information is obtained through the vehicle's own sensors (such as high-precision positioning devices based on inertial measurement unit (IMU) / global positioning system (GPS), cameras, and laser radars, etc.), and then the vehicle's electronic fence is determined through a computing platform combined with a data fusion algorithm (such as image recognition, neural networks, semantic segmentation, etc.). First, due to the working distance limitation of the sensor, the range of the determined vehicle's electronic fence is small, and because the vehicle needs to travel to a certain section of the road to collect the section information of the section before the electronic fence can be determined, the vehicle's electronic fence determined based on this solution is not predictable. Secondly, due to the high prices of sensors and computing platforms at present, the cost of the vehicle's electronic fence determined based on this solution is high.

[0004] Prior Art 2: Based on a navigation map (SD map), during the driving process of a first vehicle, the electronic fence of the first vehicle is determined through the driving strategy, road information, and GPS position information of the first vehicle, and the electronic fence of the first vehicle is shared with other vehicles through new radio (NR), vehicle to everything (V2X), over-the-air (OTA), etc. When other vehicles drive to a section with records in the electronic fence of the first vehicle, the electronic fence of the first vehicle is used as the electronic fence of the other vehicles. First, since the electronic fence of the first vehicle is determined based on the driving state of the first vehicle on the SD map, the driving route corresponding to the electronic fence of the first vehicle is the route of the first vehicle. If the driving routes of other vehicles are different from that of the first vehicle, the electronic fence of the first vehicle is not applicable to other vehicles with different driving routes. Second, factors such as the vehicle model, vehicle mass, curvature of the road section, and slope of the road section will affect the electronic fence of the vehicle. For example, a long downhill section has little impact on an empty vehicle, but for a large-tonnage vehicle, it must downshift and drive at a low speed, otherwise it is prone to accidents. Since the electronic fence of the first vehicle is determined based on the first vehicle, if the vehicle models and masses of other vehicles are different from those of the first vehicle, the electronic fence of the first vehicle is also not applicable to other vehicles with different models and masses. Therefore, the electronic fence of the vehicle determined by this solution is only applicable to fixed vehicles with fixed routes (such as buses), and not applicable to other vehicles with diverse driving routes, different models, or masses. Summary of the Invention

[0005] This application provides a method, device, and computer-readable storage medium for determining an electronic fence of a vehicle, which can improve the predictability and adaptability of the electronic fence of the vehicle without increasing costs.

[0006] To achieve the above object, this application adopts the following technical solutions:

[0007] In a first aspect, a method for determining an electronic fence of a vehicle is provided. The method can be executed by a determining device for the electronic fence of the vehicle. The method includes: the determining device for the electronic fence of the vehicle determines the position of the matching point of the vehicle's Global Positioning System (GPS) coordinates on a map; according to the information of the position of the matching point of the vehicle's GPS coordinates on the map, a first road segment on the road where the vehicle is located is determined, where the starting position of the first road segment is the position of the matching point of the vehicle's GPS coordinates on the map, and the ending position of the first road segment is the position at a preset distance from the starting position in the vehicle's driving direction; according to the information of the road nodes in the first road segment, M first Operational Design Domain (ODD) road segments and / or N first non-ODD road segments on the first road segment are determined, both N and M being natural numbers; the M first ODD road segments and / or the N first non-ODD road segments are processed to obtain the electronic fence of the vehicle, where the electronic fence of the vehicle is composed of x second ODD road segments and / or y second non-ODD road segments, the second ODD road segments being road segments for intelligent driving, and both x and y being natural numbers, x being less than or equal to M, and y being less than or equal to N.

[0008] Based on this solution, after determining the position of the matching point of the vehicle's GPS coordinates on the map, the determining device for the electronic fence of the vehicle can determine the first road segment on the road where the vehicle is located according to the information of the position of the matching point of the vehicle's GPS coordinates on the map, and then determine the electronic fence of the vehicle according to the information of the road nodes in the first road segment. Compared with the prior art, on the one hand, the solution of this application does not need to determine the electronic fence of the vehicle based on sensors installed on the vehicle. Therefore, not only can the cost of determining the electronic fence of the vehicle be reduced, but also since the determined electronic fence of the vehicle is not limited by the working distance of the sensors, the range of the electronic fence of the vehicle can be expanded. At the same time, since the vehicle does not need to drive to a certain road segment to collect the road segment information of that road segment before determining the electronic fence, the predictability of the electronic fence of the vehicle can be improved. On the other hand, compared with the prior art, the electronic fence of the vehicle in this application can be flexibly adjusted according to the information of the road nodes, and is no longer limited to fixed vehicles on fixed routes, improving the adaptability of the electronic fence of the vehicle. In summary, the solution provided by this application can improve the predictability and adaptability of the electronic fence of the vehicle without increasing the cost.

[0009] In combination with the first aspect, in certain embodiments of the first aspect, the determining device of the electronic fence of the vehicle determines the matching point position of the vehicle's GPS coordinates on the map, including: determining a plurality of first roads according to the vehicle's GPS coordinates, where the first road is a road within a first rectangular area, and the first rectangular area is a rectangular area centered on the vehicle's GPS coordinates with each side length being a first length; determining the cost value of each first road among the plurality of first roads according to the positional relationship between the vehicle's GPS coordinates and each first road among the plurality of first roads and the association information of each first road among the plurality of first roads; determining the intersection point of the first straight line and the second straight line as the matching point position of the vehicle's GPS coordinates on the map, where the first straight line is a straight line passing through the vehicle's GPS coordinates and perpendicular to the first road with the minimum cost value among the plurality of first roads, and the second straight line is the straight line where the first road with the minimum cost value among the plurality of first roads is located.

[0010] In combination with the first aspect, in certain embodiments of the first aspect, the first road is a road within a first rectangular area, including: if the vehicle is in a stationary state, the first road is any road within the first rectangular area; or, if the vehicle is in a moving state, the first road is a road within the first rectangular area that satisfies a first preset condition, and the first preset condition is that the included angle with the moving direction of the vehicle is less than or equal to a first threshold.

[0011] In combination with the first aspect, in certain embodiments of the first aspect, the determining device of the electronic fence of the vehicle determines M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment, including: determining M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the numbers and / or road condition indexes of the road nodes in the first road segment.

[0012] In combination with the first aspect, in certain embodiments of the first aspect, the determining device of the electronic fence of the vehicle determines M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the numbers and / or road condition indexes of the road nodes in the first road segment, including: determining P first ODD road segments and / or Q first non-ODD road segments in the first road segment according to the numbers of the road nodes in the first road segment and a first mapping relationship, where the first mapping relationship includes the corresponding relationship between the numbers of the road nodes in the first road segment and whether they are ODD road segments, and P and Q are both natural numbers; according to the road condition indexes of the road nodes in the first road segment, determining the first ODD road segments among the P first ODD road segments whose road condition indexes are not within the road condition index range of the vehicle as first non-ODD road segments, and obtaining M first ODD road segments and / or N first non-ODD road segments on the first road segment.

[0013] In connection with the first aspect, in certain embodiments of the first aspect, before determining the position of the matching point of the GPS coordinates on the map, the method further includes: a determining device of the electronic fence of the vehicle determines the mass of the vehicle according to the state information during the vehicle's travel; and determines the range of the road condition index of the vehicle according to the mass of the vehicle.

[0014] In connection with the first aspect, in certain embodiments of the first aspect, the determining device of the electronic fence of the vehicle processes the M first ODD road segments and / or the N first non-ODD road segments, including: setting third non-ODD road segments with a second length on both sides of each of the N first non-ODD road segments to obtain a plurality of third non-ODD road segments; wherein, the third non-ODD road segments cover some or all of the first ODD road segments in the adjacent first ODD road segments of each first non-ODD road segment; if there is an overlap between two adjacent third non-ODD road segments among the plurality of third non-ODD road segments, determining the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments and the two adjacent third non-ODD road segments as second non-ODD road segments; and / or, if the length of the first ODD road segments between two adjacent third non-ODD road segments among the plurality of third non-ODD road segments is less than a second threshold, determining the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments, the two adjacent third non-ODD road segments, and the first ODD road segments between the two adjacent third non-ODD road segments as second non-ODD road segments.

[0015] In connection with the first aspect, in certain embodiments of the first aspect, before determining the position of the matching point of the GPS coordinates on the map, the method further includes: the determining device of the electronic fence of the vehicle determines that the GPS message corresponding to the GPS coordinates is valid according to the signal status information, the number of satellites, and the value of HDOP in the GPS message corresponding to the GPS coordinates.

[0016] In connection with the first aspect, in certain embodiments of the first aspect, the determining device of the electronic fence of the vehicle determines that the GPS message corresponding to the GPS coordinates is valid according to the signal status information, the number of satellites, and the value of HDOP in the GPS message corresponding to the GPS coordinates, including: if the signal status information in the GPS message corresponding to the GPS coordinates indicates that the signal status of the GPS message is valid, the number of satellites in the GPS message is greater than or equal to a third threshold, and the value of HDOP in the GPS message is less than a fourth threshold, determining that the GPS message is valid; otherwise, determining that the GPS message is invalid.

[0017] In combination with the first aspect, in some embodiments of the first aspect, after processing the M first ODD sections and / or the N first non-ODD sections, the method further includes: a determination device for the vehicle's electronic fence determines the credibility of the vehicle's electronic fence according to the signal status information in the GPS message corresponding to the GPS coordinates, the road grade of the first section, and the cost value of the first section, where the credibility of the vehicle's electronic fence is used to indicate the reliability degree of the vehicle's electronic fence.

[0018] In a second aspect, a determination device for a vehicle's electronic fence is provided for implementing the above-mentioned method for determining a vehicle's electronic fence. The determination device for the vehicle's electronic fence includes corresponding modules, units, or means for implementing the above method. The modules, units, or means can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0019] In combination with the second aspect, in some embodiments of the second aspect, the determination device for the vehicle's electronic fence includes: a determination module and a processing module; the determination module is configured to determine the position of the matching point of the vehicle's Global Positioning System (GPS) coordinates on the map; the determination module is further configured to determine the first section on the road where the vehicle is located according to the information of the matching point position of the vehicle's GPS coordinates on the map, where the starting position of the first section is the matching point position of the vehicle's GPS coordinates on the map, and the ending position of the first section is the position at a preset distance from the starting position in the vehicle's driving direction; the determination module is further configured to determine M first Operational Design Domain (ODD) sections and / or N first non-ODD sections on the first section according to the information of the road nodes in the first section, where both N and M are natural numbers; the processing module is configured to process the M first ODD sections and / or the N first non-ODD sections to obtain the vehicle's electronic fence, where the vehicle's electronic fence is composed of x second ODD sections and / or y second non-ODD sections, and the second ODD sections are sections for intelligent driving, and both x and y are natural numbers, and x is less than or equal to M, and y is less than or equal to N.

[0020] In combination with the second aspect, in certain embodiments of the second aspect, the determining module is configured to determine the position of the matching point of the vehicle GPS coordinates on the map, including: determining a plurality of first roads according to the vehicle GPS coordinates, where the first roads are roads within a first rectangular area, and the first rectangular area is a rectangular area centered on the vehicle GPS coordinates with each side length being a first length; determining the cost value of each first road among the plurality of first roads according to the positional relationship between the vehicle GPS coordinates and each first road among the plurality of first roads and the association information of each first road among the plurality of first roads; determining the intersection point of the first straight line and the second straight line as the position of the matching point of the vehicle GPS coordinates on the map, where the first straight line is a straight line passing through the vehicle GPS coordinates and perpendicular to the first road with the smallest cost value among the plurality of first roads, and the second straight line is the straight line where the first road with the smallest cost value among the plurality of first roads is located.

[0021] In combination with the second aspect, in certain embodiments of the second aspect, the first road is a road within the first rectangular area, including: if the vehicle is in a stationary state, the first road is any road within the first rectangular area; or, if the vehicle is in a moving state, the first road is a road within the first rectangular area that satisfies a first preset condition, and the first preset condition is that the included angle with the moving direction of the vehicle is less than or equal to a first threshold.

[0022] In combination with the second aspect, in certain embodiments of the second aspect, the determining module is further configured to determine M first ODD road segments and / or N first non - ODD road segments on the first road segment according to the information of the road nodes in the first road segment, including: determining M first ODD road segments and / or N first non - ODD road segments on the first road segment according to the numbers and / or road condition indexes of the road nodes in the first road segment.

[0023] In combination with the second aspect, in certain embodiments of the second aspect, the determining module is further configured to determine M first ODD road segments and / or N first non - ODD road segments on the first road segment according to the numbers and / or road condition indexes of the road nodes in the first road segment, including: determining P first ODD road segments and / or Q first non - ODD road segments in the first road segment according to the numbers of the road nodes in the first road segment and a first mapping relationship, where the first mapping relationship includes the corresponding relationship between the numbers of the road nodes in the first road segment and whether they are ODD road segments, and P and Q are both natural numbers; according to the road condition indexes of the road nodes in the first road segment, determining the first ODD road segments among the P first ODD road segments whose road condition indexes are not within the road condition index range of the vehicle as first non - ODD road segments, to obtain M first ODD road segments and / or N first non - ODD road segments on the first road segment.

[0024] In combination with the second aspect, in some embodiments of the second aspect, the determining module is further configured to: determine the mass of the vehicle according to the state information when the vehicle is traveling; and determine the road condition index range of the vehicle according to the mass of the vehicle.

[0025] In combination with the second aspect, in some embodiments of the second aspect, the processing module is specifically configured to: set third non-ODD road sections with a second length on both sides of each of the N first non-ODD road sections to obtain a plurality of third non-ODD road sections; wherein, the third non-ODD road sections cover some or all of the first ODD road sections in the adjacent first ODD road sections of each first non-ODD road section; if there is an overlap between two adjacent third non-ODD road sections among the plurality of third non-ODD road sections, determine the first non-ODD road sections on both sides of the two adjacent third non-ODD road sections and the two adjacent third non-ODD road sections as second non-ODD road sections; and / or, if the length of the first ODD road sections separated by two adjacent third non-ODD road sections among the plurality of third non-ODD road sections is less than a second threshold, determine the first non-ODD road sections on both sides of the two adjacent third non-ODD road sections, the two adjacent third non-ODD road sections, and the first ODD road sections separated by the two adjacent third non-ODD road sections as second non-ODD road sections.

[0026] In combination with the second aspect, in some embodiments of the second aspect, the determining module is further configured to: determine that the GPS message corresponding to the GPS coordinate is valid according to the signal status information, the number of satellites, and the value of HDOP in the GPS message corresponding to the GPS coordinate.

[0027] In combination with the second aspect, in some embodiments of the second aspect, the determining module is further configured to determine that the GPS message corresponding to the GPS coordinate is valid according to the signal status information, the number of satellites, and the value of HDOP in the GPS message corresponding to the GPS coordinate, including: if the signal status information in the GPS message corresponding to the GPS coordinate indicates that the signal status of the GPS message is valid, the number of satellites in the GPS message is greater than or equal to a third threshold, and the value of HDOP in the GPS message is less than a fourth threshold, determine that the GPS message is valid; otherwise, determine that the GPS message is invalid.

[0028] In combination with the second aspect, in some embodiments of the second aspect, the determining module is further configured to: determine the credibility of the vehicle's electronic fence according to the signal status information, the road grade of the first road section, and the cost value of the first road section in the GPS message corresponding to the GPS coordinate, wherein the credibility of the vehicle's electronic fence is used to indicate the reliability degree of the vehicle's electronic fence.

[0029] In a third aspect, there is provided an apparatus for determining a vehicle's electronic fence, including: at least one processor; the processor is configured to execute a computer program or instruction to enable the apparatus for determining a vehicle's electronic fence to execute the method of the first aspect described above.

[0030] In combination with the third aspect, in some embodiments of the third aspect, the electronic fence determination device of the vehicle further includes a memory for storing necessary program instructions and data. The memory can be coupled to the processor or can be independent of the processor.

[0031] In some possible designs, the electronic fence determination device of the vehicle can be a chip or a chip system. When the electronic fence determination device of the vehicle is a chip system, it can be composed of chips or can include chips and other discrete devices.

[0032] Fourth aspect, a computer-readable storage medium is provided, in which computer instructions are stored, and when executed by a computer, enable the computer to execute the method of the first aspect above.

[0033] Fifth aspect, a computer program product containing instructions is provided, and when running on a computer, enables the computer to execute the method of the first aspect above.

[0034] Among them, the technical effects brought by any of the design manners in the second aspect to the fifth aspect can refer to the technical effects brought by different design manners in the first aspect above, which will not be elaborated here. Description of the Drawings

[0035] Figure 1 Schematic diagram of an application scenario of an electronic fence of a vehicle provided by this application;

[0036] Figure 2 Schematic diagram of the flow of a method for determining an electronic fence of a vehicle provided by this application;

[0037] Figure 3 Schematic diagram of the topological relationship between vehicle GPS coordinates and roads provided by this application;

[0038] Figure 4 Another schematic diagram of the topological relationship between vehicle GPS coordinates and roads provided by this application;

[0039] Figure 5 Schematic diagram of the topological relationship between the first ODD / non-ODD section and the third non-ODD section provided by this application;

[0040] Figure 6 Second schematic diagram of the topological relationship between the first ODD / non-ODD section and the third non-ODD section provided by this application;

[0041] Figure 7 Third schematic diagram of the topological relationship between the first ODD / non-ODD section and the third non-ODD section provided by this application;

[0042] Figure 8 Schematic diagram of the topological relationship between the fourth first ODD / non-ODD section and the third non-ODD section provided for this application;

[0043] Figure 9a Schematic diagram of the topological relationship between a second ODD section and a third non-ODD section provided for this application;

[0044] Figure 9b Schematic flowchart of another method for determining the electronic fence of a vehicle provided for this application;

[0045] Figure 9c Schematic flowchart of yet another method for determining the electronic fence of a vehicle provided for this application;

[0046] Figure 10a Schematic diagram of the structure of a device for determining the electronic fence of a vehicle provided for this application;

[0047] Figure 10b Schematic diagram of the structure of another device for determining the electronic fence of a vehicle provided for this application;

[0048] Figure 11 Schematic diagram of the structure of another device for determining the electronic fence of a vehicle provided for this application. Detailed implementation manners

[0049] Next, the technical solutions in the embodiments of the present invention will be described with reference to the accompanying drawings in the embodiments of the present invention.

[0050] In the embodiments of the present invention, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0051] In the description of the present invention, words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit being different.

[0052] Figure 1The figure is a schematic diagram of the application scenario of an electronic fence for a vehicle provided exemplarily for this application. Among them, the bridge is a section of the operational design domain (ODD), and the vehicle can perform intelligent driving on the ODD section. The curve is a non-ODD section, and the vehicle cannot perform intelligent driving on the non-ODD section. Currently, the vehicle can determine the ODD section and the non-ODD section based on the electronic fence of the vehicle, and then select whether to perform intelligent driving.

[0053] Next, the method for determining the electronic fence of the vehicle provided in the embodiments of this application will be described in detail with reference to the accompanying drawings.

[0054] It can be understood that in the embodiments of this application, the execution entity can execute some or all of the steps in the embodiments of this application. These steps or operations are only examples, and the embodiments of this application can also execute other operations or various deformations of the operations. In addition, the various steps can be executed in different orders presented in the embodiments of this application, and it is possible not to execute all the operations in the embodiments of this application.

[0055] As Figure 2 shown, the method for determining the electronic fence of the vehicle provided in the embodiments of this application includes the following steps:

[0056] S201. The determining device of the electronic fence of the vehicle determines the position of the matching point of the vehicle GPS coordinates on the map.

[0057] Among them, the vehicle GPS coordinates can be carried in the GPS message.

[0058] Optionally, the above map can be an advanced driving assistance system (ADAS) map or a high definition (HD) map. Of course, the above map can also be a map of other types or names in future technologies.

[0059] Optionally, the determining device for the electronic fence of the vehicle determines the matching point position of the vehicle GPS coordinates on the map, including: the determining device for the electronic fence of the vehicle determines a plurality of first roads according to the vehicle GPS coordinates, where the first roads are the roads within the first rectangular area, and the first rectangular area is a rectangular area centered on the vehicle GPS coordinates with the length of each side being the first length; determines the cost value of each road among the plurality of first roads according to the positional relationship between the vehicle GPS coordinates and each first road among the plurality of first roads and the associated information of each first road among the plurality of first roads; determines the intersection point of the first straight line and the second straight line as the matching point position of the vehicle GPS coordinates on the map, where the first straight line is a straight line passing through the vehicle GPS coordinates and perpendicular to the first road with the smallest cost value among the plurality of first roads, and the second straight line is the straight line where the first road with the smallest cost value among the plurality of first roads is located.

[0060] As a possible implementation, the first length can be 100 meters. Of course, the first length can also be other values, and the present application does not limit this.

[0061] As a possible implementation, the first road being the road within the first rectangular area includes: if the vehicle is in a stationary state, the first road is any road within the first rectangular area; or, if the vehicle is in a moving state, the first road is the road within the first rectangular area that satisfies the first preset condition, and the first preset condition is that the included angle with the moving direction of the vehicle is less than or equal to the first threshold.

[0062] Exemplarily, the first threshold can be 150°. That is to say, if the vehicle is in a moving state, the first road is the road within the first rectangular area with the included angle with the moving direction of the vehicle being less than or equal to 150°. Of course, the first threshold can also be other values, and the present application does not limit this.

[0063] It should be noted that the moving speed of the vehicle can be carried in the GPS message. The determining device for the electronic fence of the vehicle can determine whether the vehicle is in a moving state through the moving speed of the vehicle. For example, when the moving speed of the vehicle is not zero, it is determined that the vehicle is in a moving state, and when the moving speed of the vehicle is zero, it is determined that the vehicle is in a stationary state.

[0064] As a possible implementation, the determining device of the electronic fence of the vehicle determines the cost value of each first road among the multiple first roads according to the positional relationship between the vehicle GPS coordinates and each first road among the multiple first roads and the associated information of each first road among the multiple first roads, which may include: the determining device of the electronic fence of the vehicle determines multiple sub-cost values of each first road among the first roads respectively according to the distance from the vehicle GPS coordinates to each first road among the multiple first roads, the included angle between the heading angle corresponding to the vehicle GPS coordinates and the heading angle of each first road among the multiple first roads, and the difference between the speed corresponding to the vehicle GPS coordinates and the maximum speed corresponding to the road grade of each first road among the multiple first roads, and takes the sum of the multiple sub-cost values as the cost value of each first road among the first roads.

[0065] Exemplarily, the determining device of the electronic fence of the vehicle determines the value of the distance from the vehicle GPS coordinates to each first road among the multiple first roads as the first sub-cost value of each first road among the first roads. The determining device of the electronic fence of the vehicle determines the value of the included angle between the heading angle corresponding to the vehicle GPS coordinates and the heading angle of each first road among the multiple first roads as the second sub-cost value of each first road among the first roads. The determining device of the electronic fence of the vehicle determines the third sub-cost value of each first road among the first roads according to the difference between the speed corresponding to the vehicle GPS coordinates and the maximum speed corresponding to the road grade of each first road among the multiple first roads. For example, if the difference is a positive number, that is, the speed corresponding to the vehicle GPS coordinates exceeds the maximum speed corresponding to the road grade of each first road among the multiple first roads, the difference is determined as the third sub-cost value of each first road among the first roads; or, if the difference is not a positive number, that is, the speed corresponding to the vehicle GPS coordinates does not exceed the maximum speed corresponding to the road grade of each first road among the multiple first roads, the third sub-cost value is determined to be 0. After determining the multiple sub-cost values of each first road among the first roads, the determining device of the electronic fence of the vehicle takes the sum of the above multiple sub-cost values as the cost value of each first road among the first roads.

[0066] For example, Figure 3 FIG. is a schematic diagram of the topological relationship between the vehicle GPS coordinates and the road provided by the present application. Assume that the distance L1 from the vehicle GPS coordinates to Road 1 is 2 meters, the distance L2 from the vehicle GPS coordinates to Road 2 is 3 meters, the heading angle ∠1 of Road 1 is 90°, the heading angle ∠2 of Road 2 is 45°, the heading angle ∠3 corresponding to the vehicle GPS coordinates is 85°, the road grade of Road 1 is expressway, the road grade of Road 2 is expressway, and the speed corresponding to the vehicle GPS coordinates is 86.4 kilometers per hour.

[0067] Combined with Figure 3, the determination device of the electronic fence of the vehicle determines that the first offspring value of Road 1 is 2 based on the distance L1 from the vehicle GPS coordinates to Road 1 being 2 meters; determines that the included angle between the heading angle of the vehicle GPS coordinates and the heading angle of Road 1 is 5° based on the heading angle ∠1 of Road 1 being 90° and the heading angle ∠3 corresponding to the vehicle GPS coordinates being 85°, and further determines that the second offspring value of Road 1 is 5; determines that the difference is -0.36 km / h based on the vehicle speed corresponding to the vehicle GPS coordinates (86.4 km / h) and the road grade of Road 1 being expressway (maximum speed 90 km / h), and further determines that the third offspring value of Road 1 is 0. The determination device of the electronic fence of the vehicle determines the generation value of Road 1 as the sum of the first offspring value 2, the second offspring value 5, and the third offspring value 0 of Road 1, that is, the generation value of Road 1 is 7. Similarly, the determination device of the vehicle's electronic position determines that the first offspring value of Road 2 is 3, the second offspring value is 45, and the third offspring value is 0, and further determines that the generation value of Road 2 is 48.

[0068] Further, as another possible implementation, if there are historical matching point positions within the first duration, in addition to the above-mentioned various offspring values of each road in the first road, the fourth offspring value of each road in the first road determined by the determination device of the vehicle's electronic fence according to the vehicle GPS coordinates and the historical matching point positions can also be included.

[0069] Exemplarily, the first duration can be the duration of a short GPS lock loss. For example, it can be 5 seconds. Of course, the first duration can also be a duration of other values, but generally it shall not exceed 30 seconds.

[0070] Exemplarily, the determination device of the vehicle's electronic fence determines the estimated position of the vehicle GPS coordinates based on the vehicle speed corresponding to the vehicle GPS coordinates, the heading angle corresponding to the vehicle GPS coordinates, and the time interval between the vehicle GPS coordinates and the vehicle GPS coordinates corresponding to the historical matching point, and takes the distance between the position closest to the vehicle GPS coordinates in each road in the first road and the estimated position as the fourth offspring value of each road in the first road.

[0071] For example, on the basis of Figure 3 , Figure 4 This is another schematic diagram of the topological relationship between the vehicle GPS coordinates and the road provided by this application. Assume that the vehicle speed corresponding to the vehicle GPS coordinates is 86.4 km / h, the heading angle corresponding to the vehicle GPS coordinates is 85°, and the time interval between the vehicle GPS coordinates and the vehicle GPS coordinates corresponding to the historical matching point is 1 second.

[0072] Combined with Figure 4, the determining device of the vehicle's electronic fence determines the estimated position based on the vehicle speed of 86.4 kilometers per hour corresponding to the vehicle's GPS coordinates, the heading angle of 85° corresponding to the vehicle's GPS coordinates, and the time interval of 1 second between the vehicle's GPS coordinates and the vehicle's GPS coordinates corresponding to the historical matching point. It determines that the distance L3 between the position 1 closest to the vehicle's GPS coordinates on Road 1 and the estimated position is 1 meter, that is, the fourth sub - value of Road 1 is 1. The determining device of the vehicle's electronic fence determines the cost value of Road 1 by summing the first sub - value of 2, the second sub - value of 5, the third sub - value of 0, and the fourth sub - value of 1 of Road 1, that is, the cost value of Road 1 is 8. Similarly, the determining device of the vehicle's electronic position determines that the distance L4 between the position 2 closest to the vehicle's GPS coordinates on Road 2 and the estimated position is 6 meters, that is, the fourth sub - value of Road 2 is 6. Then, according to the first sub - value of 3, the second sub - value of 45, the third sub - value of 0, and the fourth sub - value of 6 of Road 2, it determines that the cost value of Road 2 is 54.

[0073] It should be noted that the above two examples determine the cost value of each road in the first road without assigning weight values to the multiple sub - values of each road in the first road. Of course, weight values can also be assigned to each sub - value of each road in the first road respectively to determine the weighted cost value of each road in the first road. This application does not limit this.

[0074] After determining the cost value of each road in the first road, the determining device of the vehicle's electronic fence determines the intersection point of the first straight line and the second straight line as the matching point position of the vehicle's GPS coordinates on the map. Among them, the first straight line is the straight line passing through the vehicle's GPS coordinates and perpendicular to the first road with the smallest cost value among the multiple first roads, and the second straight line is the straight line where the first road with the smallest cost value among the multiple first roads is located. Exemplarily, Figure 3 taking [example] as an example, the cost value of Road 1 is 7, which is less than the cost value of Road 2 of 48. The determining device of the vehicle's electronic fence determines that the first road with the smallest cost value among the multiple first roads is Road 1. The first straight line is the straight line passing through the vehicle's GPS coordinates and perpendicular to Road 1, and the second straight line is the straight line where Road 1 is located. The intersection point of the first straight line and the second straight line is the matching point position of the vehicle's GPS coordinates on the map, such as Figure 3 the point A1 in [figure].

[0075] It should be noted that when the vehicle's GPS coordinates are unavailable, the determining device of the vehicle's electronic fence can also determine the matching point position through sensors such as IMU, lidar, and camera set on the vehicle. Since determining the matching point position through sensors such as IMU, lidar, and camera set on the vehicle is an existing technology in this field, this application does not expand on this here.

[0076] S202. The determining device of the vehicle's electronic fence determines the first road section on the road where the vehicle is located according to the information of the matching point position of the vehicle's GPS coordinates on the map.

[0077] Wherein, the starting position of the first road section is the matching point position of the vehicle's GPS coordinates on the map, and the ending position of the first road section is the position at a preset distance from the starting position in the vehicle's driving direction.

[0078] Optionally, the preset distance can be 2 kilometers. Of course, the value of the preset distance can also be other values, and this application does not limit this. After the determining device of the vehicle's electronic fence determines the first road section, the following step S203 can be executed.

[0079] S203. The determining device of the vehicle's electronic fence determines M ODD road sections and / or N first non-ODD road sections on the first road section according to the information of the road nodes in the first road section, where both N and M are natural numbers.

[0080] Optionally, the road nodes can be road points of different types and / or roads with different road conditions. For example, the starting and ending points of toll stations, the starting and ending points of tunnels, road bifurcation / merging sections, ramp exits / entries, server / parking area exits / entries, starting and ending points of construction sections, road line change points, dead-end sections, sections without road lines, starting points of bend / slope sections, starting points of bridges, crosswind sections, accident-prone sections, animal-inhabited sections, continuous bends, sharp turns, dangerous sections, falling rock sections, slippery sections, etc. Of course, the road nodes can also include other types of road points and / or roads with other road conditions, and this application does not limit this.

[0081] Optionally, the determining device of the vehicle's electronic fence determines M first ODD road sections and / or N first non-ODD road sections on the first road section according to the information of the road nodes in the first road section, including: the determining device of the vehicle's electronic fence determines M first ODD road sections and / or N first non-ODD road sections on the first road section according to the numbers and / or road condition indexes of the road nodes in the first road section.

[0082] It can be understood that the information of the road nodes in the first road section includes the numbers and / or road condition indexes of the road nodes in the first road section.

[0083] As a possible implementation, the number of the road node can be a number corresponding one-to-one to the road node. For example, number 0 corresponds to the starting point of the toll station, number 1 corresponds to the ending point of the toll station, etc. The road condition index is used to characterize the road condition, such as the road curvature Ri of the road and the slope value Si of the road.

[0084] As a possible implementation, the determining device of the vehicle's electronic fence determines P first ODD road segments and / or Q first non-ODD road segments in the first road segment according to the numbers of road nodes in the first road segment and the first mapping relationship. The first mapping relationship includes the correspondence between the numbers of road nodes in the first road segment and whether they are ODD road segments, where both P and Q are natural numbers. The determining device of the vehicle's electronic fence determines, according to the road condition indexes of the road nodes in the first road segment, the first ODD road segments whose road condition indexes of the road nodes are not within the vehicle's road condition index range among the P first ODD road segments as first non-ODD road segments, and obtains M first ODD road segments and / or N first non-ODD road segments on the first road segment.

[0085] Exemplarily, Table 1 shows an example of the first mapping relationship provided in this application.

[0086] Table 1

[0087]

[0088]

[0089] After the determining device of the vehicle's electronic fence determines the numbers of road nodes in the first road segment, it can determine P first ODD road segments and / or Q first non-ODD road segments on the first road segment in combination with the first mapping relationship shown in Table 1 above. For example, when the determining device of the vehicle's electronic fence determines that the number of the road node in the first road segment is 9, it can determine one first non-ODD road segment on the first road segment in combination with the first mapping relationship shown in Table 1 above; or, for example, when the determining device of the vehicle's electronic fence determines that the number of the road node in the first road segment is 10, it can determine one first ODD road segment on the first road segment in combination with the first mapping relationship shown in Table 1 above.

[0090] Exemplarily, the vehicle's road condition index range is used to indicate the range of road condition indexes within which the vehicle can safely travel. The vehicle's road condition index range may include an over-limit longitudinal slope distance threshold (L S ), a sharp turn distance threshold (L m ), a continuous turn distance threshold (L C ), the vehicle's slope range (S min , S max ), the vehicle's sharp turn curvature radius threshold R max or the vehicle's continuous curve curvature radius threshold R C or one or more of them.

[0091] Table 2 shows a mapping example of the relationship between the road condition indexes of the first ODD road segments and the vehicle's road condition index range and whether they are ODD road segments provided in this application.

[0092] Table 2

[0093]

[0094] Combined with Table 2, after the determining device of the electronic fence of the vehicle determines P first ODD road sections and / or Q first non-ODD road sections on the first road section, starting from road L i at, L C within the range, if the road curvature Ri of the first ODD road section is greater than the continuous curve radius threshold R of the vehicle C , that is to say, the road curvature Ri of the first ODD road section exceeds the continuous curve radius threshold R of the vehicle C range, that is, the road curvature Ri of the first ODD road section is not within the continuous curve radius threshold R of the vehicle C range, then determine that this first ODD section is a first non-ODD road section.

[0095] Optionally, the above road condition index range of the vehicle can be that the determining device of the electronic fence of the vehicle determines the mass of the vehicle according to the state information when the vehicle is driving, and then determines the road condition index range of the vehicle according to the mass of the vehicle.

[0096] As a possible implementation, the determining device of the electronic fence of the vehicle determines the mass of the vehicle through state information such as torque and gear when the vehicle is driving, and then determines the road condition index range of the vehicle according to the mass of the vehicle, vehicle kinematics, and dynamic constraint theory. Since this step is an existing technology in this field, this application will not elaborate on it further.

[0097] As a possible implementation, the above mass of the vehicle can also be preset in the determining device of the electronic fence of the vehicle, and this application does not limit the source of the above mass of the vehicle.

[0098] Optionally, the above road condition index range of the vehicle can also be preset in the determining device of the electronic fence of the vehicle, and this application does not limit the source of the above road condition index range of the vehicle.

[0099] Optionally, the determining device of the electronic fence of the vehicle can also determine M ODD road sections and / or N first non-ODD road sections on the first road section according to real-time weather information, preset road sections, or other factors, and this application does not limit this.

[0100] After step S203, the determining device of the electronic fence of the vehicle can determine M first ODD road sections and / or N first non-ODD road sections on the first road section, and then execute the following step S204.

[0101] S204. The determining device of the electronic fence of the vehicle processes M first ODD road sections and / or N first non-ODD road sections to obtain the electronic fence of the vehicle.

[0102] Among them, the electronic fence of the vehicle is composed of x second ODD sections and / or y second non-ODD sections. The second ODD sections are sections for intelligent driving. Both x and y are natural numbers, x is less than or equal to M, and y is less than or equal to N.

[0103] Optionally, the determining device of the electronic fence of the vehicle sets third non-ODD sections with a second length on both sides of each first non-ODD section among the N first non-ODD sections to obtain a plurality of third non-ODD sections. Among them, the third non-ODD sections cover some or all of the first ODD sections in the adjacent first ODD sections of each first non-ODD section. If there is an overlap between two adjacent third non-ODD sections among the plurality of third non-ODD sections, the first non-ODD sections on both sides of the two adjacent third non-ODD sections and the two adjacent third non-ODD sections are determined as second non-ODD sections; and / or, if the length of the first ODD sections separated by two adjacent third non-ODD sections among the plurality of third non-ODD sections is less than a second threshold, the first non-ODD sections on both sides of the two adjacent third non-ODD sections, the two adjacent third non-ODD sections, and the first ODD sections separated by the two adjacent third non-ODD sections are determined as second non-ODD sections.

[0104] As a possible implementation, Figure 5 This is a schematic diagram of the topological relationship between the first ODD / first non-ODD sections and the third non-ODD sections provided by this application. As Figure 5 shown, in the case where the first non-ODD section is a section with a length, the determining device of the electronic fence of the vehicle sets third non-ODD sections with a second length on both sides of the first non-ODD section.

[0105] Figure 6 Another schematic diagram of the topological relationship between the first ODD / first non-ODD sections and the third non-ODD sections provided by this application. As Figure 6 shown, in the case where the first non-ODD section is a road point without a length, the determining device of the electronic fence of the vehicle sets third non-ODD sections with a second length on both sides of the first non-ODD section.

[0106] As Figure 5 and Figure 6 shown, the third non-ODD sections cover some or all of the first ODD sections in the adjacent first ODD sections of each first non-ODD section.

[0107] As a possible implementation, Figure 7 This is yet another schematic diagram of the topological relationship between the first ODD / first non-ODD sections and the third non-ODD sections provided by this application. As Figure 7As shown, when the length of the first ODD section between two adjacent first non-ODD sections is less than twice the length of the third non-ODD section, there will be an overlap between two adjacent third non-ODD sections.

[0108] Figure 8 This is another schematic diagram of the topological relationship between the first ODD / first non-ODD section and the third non-ODD section provided by this application. As Figure 8 shown. When the length of the first ODD section between two adjacent first non-ODD sections is greater than twice the length of the third non-ODD section, there will still be a first ODD section between two adjacent third non-ODD sections.

[0109] Figure 9a This is a schematic diagram of the topological relationship between the second ODD section and the third non-ODD section provided by this application on the basis of Figure 7 or Figure 8 . Combining Figure 7 , if there is an overlap between two adjacent third non-ODD sections, the determining device of the vehicle's electronic fence determines the first non-ODD sections on both sides of the two adjacent third non-ODD sections and the two adjacent third non-ODD sections as the second non-ODD sections. Combining Figure 8 , if Figure 8 the length of the first ODD section between two adjacent third non-ODD sections is less than the second threshold, the determining device of the vehicle's electronic fence determines the first non-ODD sections on both sides of the two adjacent third non-ODD sections, the two adjacent third non-ODD sections, and the first ODD section between the two adjacent third non-ODD sections as the second non-ODD sections, where the second threshold can be 500 meters. Of course, the second threshold can also be other values, and this application does not limit this.

[0110] After step S204, the determining device of the vehicle's electronic fence can obtain the vehicle's electronic fence composed of x second ODD sections and / or y second non-ODD sections.

[0111] Based on this solution, after determining the position of the matching point of the vehicle's GPS coordinates on the map, the determining device of the vehicle's electronic fence can determine the first road segment on the road where the vehicle is located according to the information of the matching point position of the vehicle's GPS coordinates on the map, and then determine the vehicle's electronic fence according to the information of the road nodes in the first road segment. Compared with the prior art, on the one hand, the solution of the present application does not need to determine the vehicle's electronic fence based on the sensors installed on the vehicle. Therefore, not only can the cost of determining the vehicle's electronic fence be reduced, but also since the determined vehicle's electronic fence is not limited by the working distance of the sensors, the range of the vehicle's electronic fence can be expanded. At the same time, since the vehicle does not need to drive to a certain road segment to collect the road segment information of that road segment before determining the electronic fence, the predictability of the vehicle's electronic fence can be improved. On the other hand, compared with the prior art, the vehicle's electronic fence in the present application can be flexibly adjusted according to the information of the road nodes, and is no longer limited to the fixed vehicles on the fixed route, improving the adaptability of the vehicle's electronic fence. In summary, the solution provided by the present application can improve the predictability and adaptability of the vehicle's electronic fence without increasing the cost.

[0112] The above is a general description of the solution of the present application. The following further describes the solution of the present application.

[0113] Optionally, before step S201, the method for determining the vehicle's electronic fence provided by the present application further includes: the determining device of the vehicle's electronic fence determines that the vehicle GPS message corresponding to the vehicle GPS coordinates is valid according to the signal status information, the number of satellites, and the value of the horizontal dilution of precision (HDOP) in the vehicle GPS message corresponding to the vehicle GPS coordinates.

[0114] As a possible implementation, if the signal status information in the vehicle GPS message corresponding to the vehicle GPS coordinates indicates that the signal status of the vehicle GPS message is valid, the number of satellites in the vehicle GPS message is greater than or equal to the third threshold, and the value of HDOP in the vehicle GPS message is less than the fourth threshold, the determining device of the vehicle's electronic fence determines that the vehicle GPS message is valid; otherwise, it determines that the vehicle GPS message is invalid.

[0115] Exemplarily, taking the third threshold as 4 and the fourth threshold as 3 as an example, Table 3 is an example provided by the present application for determining whether a vehicle GPS message is valid.

[0116] Table 3

[0117] Number of satellites ≥ 4 and HDOP value < 3 Number of satellites < 4 and / or HDOP value ≥ 3 GPS signal status is valid GPS signal is valid GPS signal is invalid GPS signal status is invalid GPS signal is invalid GPS signal is invalid

[0118] Among them, the GPS signal status, the number of satellites, and the HDOP value can be carried in the vehicle GPS message.

[0119] Combined with Table 3, when the GPS signal status is valid, the number of satellites ≥ 4 and the HDOP value < 3, the vehicle's electronic fence determination device determines that the vehicle GPS message is valid. After determining that the vehicle GPS message is valid, the vehicle's electronic fence determination device can execute the above steps S201 - S204. Otherwise, it is determined that the vehicle GPS message is invalid.

[0120] Optionally, when the vehicle's electronic fence determination device determines that the vehicle GPS message is invalid, if the time interval between the invalid vehicle GPS message and the previous valid vehicle GPS message is greater than the first duration, for example, 5 seconds, then the vehicle's electronic fence determination device uses the matching point position of the vehicle GPS coordinates in the previous valid vehicle GPS message on the map as the matching point position of the vehicle GPS coordinates in the invalid vehicle GPS message on the map. Or, if the time interval between the invalid vehicle GPS message and the previous valid vehicle GPS message is less than the first duration, for example, 5 seconds, then the vehicle's electronic fence determination device determines the vehicle GPS coordinates in the invalid vehicle GPS message based on the vehicle GPS coordinates in the previous valid vehicle GPS message, the heading angle in the previous valid vehicle GPS message, and the time interval between the invalid vehicle GPS message and the previous valid vehicle GPS message, and then determines the matching point position of the vehicle GPS coordinates in the map based on the vehicle GPS coordinates.

[0121] After determining the matching point position of the vehicle GPS coordinates in the map, the vehicle's electronic fence determination device determines the first section corresponding to the vehicle GPS coordinates as the first non - ODD section.

[0122] Optionally, after step S204, the vehicle electronic fence determination method provided by this application further includes: the vehicle's electronic fence determination device determines the credibility of the vehicle's electronic fence according to the signal status information in the vehicle GPS message corresponding to the vehicle GPS coordinates, the road grade of the first section, and the cost value of the first section.

[0123] Among them, the credibility of the vehicle's electronic fence is used to indicate the reliable degree of the vehicle's electronic fence.

[0124] As an example, when the time interval between two adjacent vehicle GPS messages corresponding to valid vehicle GPS coordinates does not exceed a first duration, and there is no first road within the first rectangular area that has a different road grade from the road where the first road segment is located, or the difference between the cost value of the first road with the largest cost value among multiple first roads and the cost value of the first road with the smallest cost value among multiple first roads is not greater than a fifth threshold, the vehicle electronic fence determination device determines that the reliability of the vehicle's electronic fence is completely trustworthy. Exemplarily, the fifth threshold can be 50. Of course, the fifth threshold can also be other values, and this application does not limit this.

[0125] For example, taking the fifth threshold as 50 as an example, if the time interval between two adjacent vehicle GPS messages corresponding to valid vehicle GPS coordinates is 5 seconds, and there is no first road within the first rectangular area that has a different road grade from the road where the first road segment is located, or the difference between the cost value of the first road with the largest cost value among multiple first roads, which is 38, and the cost value of the first road with the smallest cost value among multiple first roads, which is 6, is 32. At this time, the vehicle electronic fence determination device determines that the reliability of the vehicle's electronic fence is completely trustworthy.

[0126] As another example, when the time interval between two adjacent vehicle GPS messages corresponding to valid vehicle GPS coordinates does not exceed a first duration, and there is a first road within the first rectangular area that has a different road grade from the road where the first road segment is located, the vehicle electronic fence determination device determines that the reliability of the vehicle's electronic fence is likely to be misjudged.

[0127] For example, taking the fifth threshold as 50 as an example, if the time interval between two adjacent vehicle GPS messages corresponding to valid vehicle GPS coordinates is 5 seconds, and there is a first road within the first rectangular area that has a different road grade from the road where the first road segment is located. At this time, the vehicle electronic fence determination device determines that the reliability of the vehicle's electronic fence is likely to be misjudged.

[0128] As yet another example, when the time interval between two adjacent vehicle GPS messages corresponding to valid vehicle GPS coordinates exceeds the first duration, the vehicle electronic fence determination device determines that the reliability of the vehicle's electronic fence is completely untrustworthy.

[0129] For example, if the time interval between two adjacent vehicle GPS messages corresponding to valid vehicle GPS coordinates is 6 seconds. At this time, the vehicle electronic fence determination device determines that the reliability of the vehicle's electronic fence is completely untrustworthy.

[0130] In summary of the above description, the entire process of the vehicle electronic fence determination method can be Figure 9b as shown.Figure 9b Schematic flowchart of another method for determining an electronic fence of a vehicle provided in this application.

[0131] As Figure 9b shown, the determining device of the vehicle's electronic fence determines the mass of the vehicle according to the status information during the vehicle's driving, then determines the road condition index range of the vehicle according to the mass of the vehicle, and at the same time obtains the vehicle GPS message to determine whether the vehicle GPS message is valid.

[0132] When the vehicle GPS message is valid, the determining device of the vehicle's electronic fence determines the matching point position of the vehicle GPS coordinates in the map in the vehicle GPS, determines the first road segment on the road where the vehicle is located according to the information of the matching point position of the vehicle GPS coordinates in the map, and determines M ODD road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment.

[0133] Alternatively, when the vehicle GPS message is invalid, the determining device of the vehicle's electronic fence determines whether the time interval between the invalid vehicle GPS message and the previous valid vehicle GPS message is greater than the first duration. If so, the determining device of the vehicle's electronic fence uses the matching point position of the vehicle GPS coordinates in the previous valid vehicle GPS message as the matching point position of the vehicle GPS coordinates in the invalid vehicle GPS message. If not, the determining device of the vehicle's electronic fence determines the vehicle GPS coordinates in the invalid vehicle GPS message according to the vehicle GPS coordinates in the previous valid vehicle GPS message, the heading angle in the previous valid vehicle GPS message, and the time interval between the invalid vehicle GPS message and the previous valid vehicle GPS message, and then determines the matching point position of the vehicle GPS coordinates in the map according to the vehicle GPS coordinates. Then, the determining device of the vehicle's electronic fence determines the first road segment on the road where the vehicle is located according to the information of the matching point position of the vehicle GPS coordinates in the map, and determines the first road segment as the first non-ODD road segment.

[0134] After determining M first ODD road segments and / or N first non-ODD road segments in the first road segment, the determining device of the vehicle's electronic fence processes the M first ODD road segments and / or N first non-ODD road segments to obtain the vehicle's electronic fence.

[0135] Among them, all relevant contents of each step involved above Figure 9b can refer to the description of the relevant steps in the above Figure 9a and will not be elaborated here.

[0136] Optionally, in the embodiment of this application, the determining device of the vehicle's electronic fence can also perform road network expansion according to the information of the currently obtained matching point position. Exemplarily, asFigure 9c As shown in the figure, it is a schematic flowchart of another method for determining an electronic fence of a vehicle provided by this application, including the following steps:

[0137] After the determining device of the vehicle's electronic fence obtains the matching point position, it first determines whether the road cache is empty.

[0138] If the road cache is empty, the determining device of the vehicle's electronic fence stores the information of the first road segment (such as start position information, electronic fence information, etc.) determined based on the information of the currently obtained matching point position into the road cache.

[0139] If the road cache is not empty, the determining device of the vehicle's electronic fence further determines whether the first road segment in the road cache contains the currently obtained matching point position and the road segment direction is the driving direction of the current vehicle.

[0140] If so, the determining device of the vehicle's electronic fence expands the main road road network with the end position of the first road segment in the road cache as the starting point and the driving direction of the vehicle as the forward direction until the road length in front of the currently obtained matching point position is equal to the length of the original first road segment (i.e., the preset distance in step S202). Further, the determining device of the vehicle's electronic fence updates the information of the first road segment in the road cache. Among them, the updated first road segment uses the currently obtained matching point position as the starting position and the position at a preset distance from the currently obtained matching point position as the end position.

[0141] If not, the determining device of the vehicle's electronic fence updates the information of the first road segment in the road cache. Among them, the updated first road segment uses the currently obtained matching point position as the starting position and the position at a preset distance from the currently obtained matching point position as the end position.

[0142] The above mainly introduces the solution provided by the embodiment of this application from the perspective of the determining device of the vehicle's electronic fence executing the method for determining the vehicle's electronic fence. To implement the above functions, the determining device of the vehicle's electronic fence includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, the embodiments of this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of the present invention.

[0143] Embodiments of the present application can divide the determining device of the electronic fence of a vehicle into functional modules according to the above method examples. For example, each functional module can be corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. Optionally, the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation. In addition, the "module" here can refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory that execute one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0144] In the case of using functional module division, Figure 10a FIG. shows a schematic structural diagram of a determining device 100 for an electronic fence of a vehicle. As Figure 10a shown, the determining device 100 for the electronic fence of the vehicle includes a determining module 1001 and a processing module 1002.

[0145] In some embodiments, the determining device 100 for the electronic fence of the vehicle may further include a storage module ( Figure 10a not shown in the figure) for storing program instructions and data.

[0146] Among them, the determining module 1001 is used to determine the matching point position of the vehicle's global positioning system (GPS) coordinates on the map; the determining module 1001 is further used to determine a first road segment on the road where the vehicle is located according to the information of the matching point position of the vehicle's GPS coordinates on the map, where the starting position of the first road segment is the matching point position of the vehicle's GPS coordinates on the map, and the ending position of the first road segment is the position at a preset distance from the starting position in the vehicle's driving direction; the determining module 1001 is further used to determine M first operational design domain (ODD) road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment, where both N and M are natural numbers; the processing module 1002 is used to process the M first ODD road segments and / or N first non-ODD road segments to obtain the electronic fence of the vehicle, where the electronic fence of the vehicle is composed of x second ODD road segments and / or y second non-ODD road segments, the second ODD road segments are road segments for intelligent driving, and both x and y are natural numbers, and x is less than or equal to M, and y is less than or equal to N.

[0147] As a possible implementation, a determination module 1001 is configured to determine the position of the matching point of the vehicle GPS coordinates on the map, including: determining a plurality of first roads according to the vehicle GPS coordinates, where the first roads are the roads within a first rectangular area, and the first rectangular area is a rectangular area centered on the vehicle GPS coordinates with the length of each of the four sides being a first length; determining the cost value of each of the first roads among the plurality of first roads according to the positional relationship between the vehicle GPS coordinates and each of the first roads among the plurality of first roads and the association information of each of the first roads among the plurality of first roads; determining the intersection point of the first straight line and the second straight line as the position of the matching point of the vehicle GPS coordinates on the map, where the first straight line is a straight line passing through the vehicle GPS coordinates and perpendicular to the first road with the minimum cost value among the plurality of first roads, and the second straight line is the straight line where the first road with the minimum cost value among the plurality of first roads is located.

[0148] As a possible implementation, the first road is a road within the first rectangular area, including: if the vehicle is in a stationary state, the first road is any road within the first rectangular area; or, if the vehicle is in a moving state, the first road is a road within the first rectangular area that satisfies a first preset condition, and the first preset condition is that the included angle with the moving direction of the vehicle is less than or equal to a first threshold.

[0149] As a possible implementation, the determination module 1001 is further configured to determine M first ODD road sections and / or N first non-ODD road sections on the first road section according to the information of the road nodes in the first road section, including: determining M first ODD road sections and / or N first non-ODD road sections on the first road section according to the numbers and / or road condition indexes of the road nodes in the first road section.

[0150] As a possible implementation, the determination module 1001 is further configured to determine M first ODD road sections and / or N first non-ODD road sections on the first road section according to the numbers and / or road condition indexes of the road nodes in the first road section, including: determining P first ODD road sections and / or Q first non-ODD road sections in the first road section according to the numbers of the road nodes in the first road section and a first mapping relationship, where the first mapping relationship includes the corresponding relationship between the numbers of the road nodes in the first road section and whether they are ODD road sections, and P and Q are both natural numbers; according to the road condition indexes of the road nodes in the first road section, determining the first ODD road sections among the P first ODD road sections whose road condition indexes are not within the road condition index range of the vehicle as first non-ODD road sections, and obtaining M first ODD road sections and / or N first non-ODD road sections on the first road section.

[0151] As a possible implementation, the determination module 1001 is further configured to: determine the mass of the vehicle according to the state information when the vehicle is traveling; determine the road condition index range of the vehicle according to the mass of the vehicle.

[0152] As a possible implementation, the processing module 1002 is specifically configured to: set third non-ODD road segments with a second length on both sides of each of the N first non-ODD road segments to obtain a plurality of third non-ODD road segments; wherein, the third non-ODD road segments cover some or all of the first ODD road segments in the adjacent first ODD road segments of each first non-ODD road segment; if there is an overlap between two adjacent third non-ODD road segments among the plurality of third non-ODD road segments, determine the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments and the two adjacent third non-ODD road segments as second non-ODD road segments; and / or, if the length of the first ODD road segments separated by two adjacent third non-ODD road segments among the plurality of third non-ODD road segments is less than a second threshold, determine the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments, the two adjacent third non-ODD road segments, and the first ODD road segments separated by the two adjacent third non-ODD road segments as second non-ODD road segments.

[0153] As a possible implementation, the determining module 1001 is further configured to: determine that the GPS message corresponding to the GPS coordinate is valid according to the signal status information, the number of satellites, and the value of HDOP in the GPS message corresponding to the GPS coordinate.

[0154] As a possible implementation, the determining module 1001 is further configured to determine that the GPS message corresponding to the GPS coordinate is valid according to the signal status information, the number of satellites, and the value of HDOP in the GPS message corresponding to the GPS coordinate, including: if the signal status information in the GPS message corresponding to the GPS coordinate indicates that the signal status of the GPS message is valid, the number of satellites in the GPS message is greater than or equal to a third threshold, and the value of HDOP in the GPS message is less than a fourth threshold, determine that the GPS message is valid; otherwise, determine that the GPS message is invalid.

[0155] As a possible implementation, the determining module 1001 is further configured to: determine the credibility of the vehicle's electronic fence according to the signal status information, the road grade of the first road segment, and the cost value of the first road segment in the GPS message corresponding to the GPS coordinate, where the credibility of the vehicle's electronic fence is used to indicate the reliability of the vehicle's electronic fence.

[0156] All relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0157] Optionally, Figure 10b This is a schematic structural diagram of a determining device for the electronic fence of a vehicle in the field provided by this application. As Figure 10bAs shown in the figure, the determining device 200 of the electronic fence of the vehicle includes a processing module 2001, a determining module 2002, a receiving module 2003, and a map module 2004. Optionally, in the embodiments of the present application, the processing module 2001 may also be referred to as the electronic fence generation module 2001, and the present application does not limit this.

[0158] Among them, the receiving module 2003 is used to receive GPS messages transmitted through GPS signals. The GPS messages are divided into two standards: $GPRMC and $GPCGA. Through the GPS messages, information such as GPS coordinates, the speed corresponding to the GPS coordinates, the heading angle corresponding to the GPS coordinates, the number of satellites, and the HDOP value can be obtained.

[0159] The map module 2004 is used to store map data, upgrade map data through OTA, and provide an interface for obtaining map data.

[0160] Optionally, the determining module 2002 may further include a quality determining module 20021 and a positioning module 20022. Among them, the quality determining module 20021 is used to determine the mass of the vehicle according to the state information when the vehicle is driving. The error range of the mass of the vehicle determined by the quality determining module 20021 is within 5%. The positioning module 20022 is used to determine the position of the vehicle's GPS coordinates on the map.

[0161] In the case of implementing the functions of the above functional modules in the form of hardware, Figure 11 The structural schematic diagram of another determining device 110 of the electronic fence of the vehicle is shown. As Figure 11 shown, the determining device 110 of the electronic fence of the vehicle includes a processor 1101, a memory 1102, and a bus 1103. The processor 1101 and the memory 1102 can be connected through the bus 1103.

[0162] The processor 1101 is the control center of the determining device 110 of the electronic fence of the vehicle. It can be a single processor or a collective term for multiple processing elements. For example, the processor 1101 can be a general-purpose central processing unit (CPU), or other general-purpose processors, etc. Among them, the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0163] As an embodiment, the processor 1101 may include one or more CPUs, such as Figure 11 the CPU0 and CPU 1 shown in

[0164] The memory 1102 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0165] As a possible implementation, the memory 1102 can exist independently of the processor 1101. The memory 1102 can be connected to the processor 1101 through the bus 1103 for storing instructions or program code. When the processor 1101 calls and executes the instructions or program code stored in the memory 1102, the method for using a one-time identity identifier provided by the embodiments of the present invention can be implemented.

[0166] In another possible implementation, the memory 1102 can also be integrated with the processor 1101.

[0167] The bus 1103 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 11 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0168] It should be noted that Figure 11 the shown structure does not constitute a limitation on the determining device 110 of the electronic fence of the vehicle. In addition to Figure 11 the shown components, the determining device 110 of the electronic fence of the vehicle can include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0169] As an example, in combination with Figure 10a the functions implemented by the determining module 1001 and the processing module 1002 in the determining device 100 of the electronic fence of the vehicle are the same as those of Figure 11The functions of the processor 1101 in it are the same.

[0170] As an example, in combination with Figure 10b , the functions implemented by the processing module 2001 and the determination module 2002 in the determination device 200 of the electronic fence of the vehicle are the same as those of Figure 11 the processor 1101 in it.

[0171] Optionally, as shown in Figure 11 , the determination device 110 of the electronic fence of the vehicle provided in the embodiment of the present application may further include a communication interface 1104.

[0172] The communication interface 1104 is used to connect to other devices through a communication network. The communication network may be an Ethernet, a radio access network, a wireless local area network (WLAN), etc. The communication interface 1104 may include a receiving unit for receiving data and a sending unit for sending data.

[0173] In a possible implementation manner, in the determination device 110 of the electronic fence of the vehicle provided in the embodiment of the present application, the communication interface 1104 may also be integrated in the processor 1101, and the embodiment of the present application does not make specific limitations on this.

[0174] As a possible product form, the determination device of the electronic fence of the vehicle in the embodiment of the present application may also be implemented by the following: one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logics, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing various functions described throughout the present application.

[0175] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above division of each functional unit is used as an example for illustration. In actual applications, the above functions may be assigned to different functional units according to needs, that is, the internal structure of the device is divided into different functional units to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above may refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0176] The embodiment of the present invention also provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes each step in the method flow shown in the foregoing method embodiment.

[0177] An embodiment of the present invention provides a computer program product including instructions that, when executed on a computer, cause the computer to perform each step in the method flow shown in the above method embodiment.

[0178] Among them, a computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in a specific-purpose ASIC. In the embodiments of the present application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0179] Since the determination device, computer-readable storage medium, and computer program product of the vehicle's electronic fence provided in this embodiment can be applied to the above-mentioned method for determining the vehicle's electronic fence provided in this embodiment, the technical effects that can be obtained therefrom can also refer to the above method embodiment, and the embodiments of the present invention will not be elaborated herein.

[0180] Although the present application has been described in conjunction with various embodiments herein, however, in the process of implementing the claimed present application, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure content, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0181] Although the present application has been described in connection with specific features and their embodiments, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A method for determining an electronic fence of a vehicle, characterized in that, The method includes: Determining the position of the matching point of the vehicle's Global Positioning System (GPS) coordinates on the map; Determining a first road segment on the road where the vehicle is located according to the information of the position of the matching point of the vehicle's GPS coordinates on the map, wherein the starting position of the first road segment is the position of the matching point of the vehicle's GPS coordinates on the map, and the ending position of the first road segment is the position at a preset distance from the starting position in the vehicle's driving direction; Determining M first Operational Design Domain (ODD) road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment, where both N and M are natural numbers; Processing the M first ODD road segments and / or the N first non-ODD road segments to obtain the electronic fence of the vehicle, wherein the electronic fence of the vehicle consists of x second ODD road segments and / or y second non-ODD road segments, the second ODD road segments are road segments for intelligent driving, and both x and y are natural numbers, and x is less than or equal to M, and y is less than or equal to N; The processing of the M first ODD road segments and / or the N first non-ODD road segments includes: Setting third non-ODD road segments with a second length on both sides of each of the N first non-ODD road segments to obtain a plurality of third non-ODD road segments; wherein, the third non-ODD road segments cover some or all of the first ODD road segments in the adjacent first ODD road segments of each first non-ODD road segment; If there is an overlap between two adjacent third non-ODD road segments among the plurality of third non-ODD road segments, determining the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments and the two adjacent third non-ODD road segments as second non-ODD road segments; and / or, if the length of the first ODD road segments separated by two adjacent third non-ODD road segments among the plurality of third non-ODD road segments is less than a second threshold, determining the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments, the two adjacent third non-ODD road segments, and the first ODD road segments separated by the two adjacent third non-ODD road segments as second non-ODD road segments.

2. The method according to claim 1, wherein The determining the position of the matching point of the vehicle's GPS coordinates on the map includes: Determining a plurality of first roads according to the vehicle's GPS coordinates, wherein the first roads are roads within a first rectangular area, and the first rectangular area is a rectangular area centered on the vehicle's GPS coordinates with each side having a length of a first length; Determining the cost value of each road among the plurality of first roads according to the positional relationship between the vehicle's GPS coordinates and each first road among the plurality of first roads and the associated information of each first road among the plurality of first roads; Determine the intersection point of the first straight line and the second straight line as the matching point position of the vehicle GPS coordinate on the map, where the first straight line is a straight line passing through the vehicle GPS coordinate and perpendicular to the first road with the minimum cost value among the multiple first roads, and the second straight line is the straight line where the first road with the minimum cost value among the multiple first roads is located.

3. The method according to claim 2, wherein The first road is a road within the first rectangular area, including: If the vehicle is in a stationary state, the first road is any road within the first rectangular area; Or, if the vehicle is in a moving state, the first road is a road within the first rectangular area that satisfies the first preset condition, and the first preset condition is that the included angle with the moving direction of the vehicle is less than or equal to the first threshold.

4. The method according to any one of claims 1 to 3, characterized in that, The determining of the M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment includes: Determine the M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the numbers of the road nodes and / or the road condition indices in the first road segment.

5. The method according to claim 4, characterized in that, The determining of the M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the numbers of the road nodes and / or the road condition indices in the first road segment includes: Determine P first ODD road segments and / or Q first non-ODD road segments in the first road segment according to the numbers of the road nodes in the first road segment and the first mapping relationship, where the first mapping relationship includes the corresponding relationship between the numbers of the road nodes in the first road segment and whether they are ODD road segments, and P and Q are both natural numbers; According to the road condition indices of the road nodes in the first road segment, determine the first ODD road segments whose road condition indices of the road nodes in the P first ODD road segments are not within the road condition index range of the vehicle as first non-ODD road segments, and obtain the M first ODD road segments and / or N first non-ODD road segments on the first road segment.

6. The method according to claim 5, characterized in that Before determining the matching point position of the GPS coordinate on the map, the method further includes: Determine the mass of the vehicle according to the state information when the vehicle is driving; Determine the road condition index range of the vehicle according to the mass of the vehicle.

7. The method according to any one of claims 1 to 3, characterized in that, Before determining the matching point position of the GPS coordinate on the map, the method further includes: Determine that the GPS message corresponding to the GPS coordinate is valid according to the signal state information, the number of satellites, and the value of the horizontal dilution of precision HDOP in the GPS message corresponding to the GPS coordinate.

8. The method according to claim 7, wherein The determining that the GPS message corresponding to the GPS coordinate is valid according to the signal state information, the number of satellites, and the value of HDOP in the GPS message corresponding to the GPS coordinate includes: If the signal state information in the GPS message corresponding to the GPS coordinate indicates that the signal state of the GPS message is valid, the number of satellites in the GPS message is greater than or equal to the third threshold, and the value of HDOP in the GPS message is less than the fourth threshold, determine that the GPS message is valid; Otherwise, determine that the GPS message is invalid.

9. The method according to any one of claims 1 to 3, characterized in that After processing the M first ODD road segments and / or the N first non-ODD road segments, the method further includes: Determining the credibility of the vehicle's electronic fence according to the signal status information in the GPS message corresponding to the GPS coordinates, the road grade of the first road segment, and the cost value of the first road segment, where the credibility of the vehicle's electronic fence is used to indicate the reliability of the vehicle's electronic fence.

10. An apparatus for determining an electronic fence of a vehicle, characterized in that, The device includes: a determination module and a processing module; The determination module is configured to determine the matching point position of the vehicle's Global Positioning System (GPS) coordinates on the map; The determination module is further configured to determine a first road segment on the road where the vehicle is located according to the information of the matching point position of the vehicle's GPS coordinates on the map, where the starting position of the first road segment is the matching point position of the vehicle's GPS coordinates on the map, and the ending position of the first road segment is a position at a preset distance from the starting position in the vehicle's driving direction; The determination module is further configured to determine M first Operational Design Domain (ODD) road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment, where both N and M are natural numbers; The processing module is configured to process the M first ODD road segments and / or the N first non-ODD road segments to obtain the vehicle's electronic fence, where the vehicle's electronic fence is composed of x second ODD road segments and / or y second non-ODD road segments, the second ODD road segments are road segments for intelligent driving, and both x and y are natural numbers, and x is less than or equal to M, and y is less than or equal to N; The processing module is specifically configured to: Set third non-ODD road segments with a second length on both sides of each first non-ODD road segment in the N first non-ODD road segments to obtain a plurality of third non-ODD road segments; where the third non-ODD road segments cover some or all of the first ODD road segments in the adjacent first ODD road segments of each first non-ODD road segment; If there is an overlap between two adjacent third non-ODD road segments among the plurality of third non-ODD road segments, determine the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments and the two adjacent third non-ODD road segments as second non-ODD road segments; and / or, if the length of the first ODD road segment between two adjacent third non-ODD road segments among the plurality of third non-ODD road segments is less than a second threshold, determine the first non-ODD road segments on both sides of the two adjacent third non-ODD road segments, the two adjacent third non-ODD road segments, and the first ODD road segment between the two adjacent third non-ODD road segments as second non-ODD road segments.

11. The device according to claim 10, characterized in that, The determination module is configured to determine the matching point position of the vehicle's GPS coordinates on the map, including: Determining a plurality of first roads according to the vehicle's GPS coordinates, where the first roads are roads within a first rectangular area, and the first rectangular area is a rectangular area centered on the vehicle's GPS coordinates with all four sides having a first length; Determine the cost value of each first road among the multiple first roads according to the positional relationship between the vehicle GPS coordinates and each first road among the multiple first roads and the associated information of each first road among the multiple first roads; Determine the matching point position of the vehicle GPS coordinates on the map as the intersection of the first straight line and the second straight line, where the first straight line is a straight line passing through the vehicle GPS coordinates and perpendicular to the first road with the smallest cost value among the multiple first roads, and the second straight line is the straight line where the first road with the smallest cost value among the multiple first roads is located.

12. The device according to claim 11, wherein, The first road is a road within the first rectangular area, including: If the vehicle is in a stationary state, the first road is any road within the first rectangular area; Or, if the vehicle is in a moving state, the first road is a road within the first rectangular area that satisfies a first preset condition, and the first preset condition is that the included angle with the moving direction of the vehicle is less than or equal to a first threshold.

13. The device according to any one of claims 10 to 12, characterized in that The determining module is further configured to determine M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the information of the road nodes in the first road segment, including: Determine M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the numbers and / or road condition indexes of the road nodes in the first road segment.

14. The device according to claim 13, characterized in that The determining module is further configured to determine M first ODD road segments and / or N first non-ODD road segments on the first road segment according to the numbers and / or road condition indexes of the road nodes in the first road segment, including: Determine P first ODD road segments and / or Q first non-ODD road segments in the first road segment according to the numbers of the road nodes in the first road segment and a first mapping relationship, where the first mapping relationship includes the corresponding relationship between the numbers of the road nodes in the first road segment and whether they are ODD road segments, and both P and Q are natural numbers; According to the road condition indexes of the road nodes in the first road segment, determine the first ODD road segments among the P first ODD road segments whose road condition indexes are not within the road condition index range of the vehicle as first non-ODD road segments, and obtain M first ODD road segments and / or N first non-ODD road segments on the first road segment.

15. The device according to claim 14, characterized in that, The determining module is further configured to: Determine the mass of the vehicle according to the state information when the vehicle is traveling; Determine the road condition index range of the vehicle according to the mass of the vehicle.

16. The device according to any one of claims 10 to 12, characterized in that, The determining module is further configured to: Determine that the GPS message corresponding to the GPS coordinates is valid according to the signal state information, the number of satellites, and the HDOP value in the GPS message corresponding to the GPS coordinates.

17. The device according to claim 16, characterized in that, The determining module is further configured to determine that the GPS message corresponding to the GPS coordinates is valid according to the signal state information, the number of satellites, and the HDOP value in the GPS message corresponding to the GPS coordinates, including: If the signal status information in the GPS message corresponding to the GPS coordinates indicates that the signal status of the GPS message is valid, the number of satellites in the GPS message is greater than or equal to a third threshold, and the value of HDOP in the GPS message is less than a fourth threshold, determine that the GPS message is valid; Otherwise, determine that the GPS message is invalid.

18. The device according to any one of claims 10 to 12, characterized in that, The determining module is further configured to: Determine the credibility of the vehicle's electronic fence according to the signal status information in the GPS message corresponding to the GPS coordinates, the road grade of the first section, and the cost value of the first section, where the credibility of the vehicle's electronic fence is used to indicate the reliability of the vehicle's electronic fence.

19. An electronic fence determination device for a vehicle, characterized in that, The vehicle's electronic fence determining device includes: a processor; The processor is configured to read computer execution instructions in a memory and execute the computer execution instructions, so that the vehicle's electronic fence determining device executes the method according to any one of claims 1-9.

20. A computer-readable storage medium, characterized in that, A computer program or instruction is stored in the computer-readable storage medium, and when the computer program or instruction is executed by the vehicle's electronic fence determining device, the method according to any one of claims 1-9 is implemented.

Images