Abnormal curve driving determination method and device

Abstract

The present application provides a method and device for determining abnormal curve driving, which includes: obtaining the real-time coordinates of the vehicle within a preset time, as well as the lane centerline of the driving route, and generating a first sequence set; wherein the coordinate points in the first sequence set are arranged in sequence according to the time sequence of the corresponding real-time coordinate generation; projecting the coordinate points in the first sequence set onto the lane centerline in sequence, and obtaining the projection points in sequence to generate a second sequence set; obtaining the projection points with extreme values ​​in the second sequence set to generate a third sequence set; and determining that abnormal curve driving exists within the preset time when it is determined that the number of projection points in the third sequence set is greater than a first preset threshold. In the scenario of smart logistics technology, this method can timely and accurately determine abnormal curve driving during the driving process of unmanned vehicles.

Description

Technical Field

[0001] The present invention relates to the field of smart logistics technology, and in particular to a method and device for determining abnormal curve driving. Background Art

[0002] When driving, in addition to using vehicle maps (high-precision maps) to maintain normal driving in a reasonable lane, unmanned vehicles also need to use perception information to make comprehensive judgments on complex road conditions and vehicle conditions to deal with sudden obstacles and other information to ensure driving safety and rationality.

[0003] Currently, determining whether an autonomous vehicle encounters abnormal curve driving during driving, the common "dragon drawing" phenomenon, is usually discovered by operators through real-time monitoring on the vehicle side and timely take over.

[0004] During the process of implementing the related technology, the inventors discovered that this method of manually monitoring abnormal curve driving cannot accurately determine abnormal curve driving due to human subjectivity and the state in which the human is located. Summary of the Invention

[0005] In view of this, the present application provides a method and device for determining abnormal curve driving, which can promptly and accurately determine abnormal curve driving during the driving process of an unmanned vehicle.

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

[0007] In one embodiment, a method for determining abnormal curve driving is provided, the method comprising:

[0008] Obtaining the real-time coordinates of the vehicle within a preset time period and the lane centerline of the driving route, and generating a first sequence set; wherein the coordinate points in the first sequence set are arranged in the order of the time when the corresponding real-time coordinates were generated;

[0009] Project the coordinate points in the first sequence set onto the lane centerline in sequence, and obtain the projection points in sequence to generate a second sequence set;

[0010] Obtaining the projection points with extreme values ​​in the second sequence set to generate a third sequence set;

[0011] When it is determined that the number of projection points in the third sequence set is greater than a first preset threshold, it is determined that abnormal curve driving occurs within the preset time.

[0012] In another embodiment, an abnormal curve driving determination device is provided, the device comprising: an acquisition unit, a first generation unit, a second generation unit, a third generation unit, and a determination unit;

[0013] The acquisition unit is used to acquire the real-time coordinates of the vehicle within a preset time and the lane center line of the driving route;

[0014] The first generating unit is configured to generate a first sequence set based on the real-time coordinates acquired by the acquiring unit; wherein the coordinate points in the first sequence set are arranged in sequence according to the time sequence of the corresponding real-time coordinates;

[0015] The second generating unit is configured to sequentially project the coordinate points in the first sequence set generated by the first generating unit onto the lane center line obtained by the obtaining unit, and sequentially obtain the projected points to generate a second sequence set;

[0016] The third generating unit is configured to obtain projection points with extreme values ​​in the second sequence set generated by the second generating unit to generate a third sequence set;

[0017] The determining unit is configured to determine that abnormal curved driving exists within the preset time when it is determined that the number of projection points in the third sequence set generated by the third generating unit is greater than a first preset threshold.

[0018] In another embodiment, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the abnormal curve driving determination method when executing the program.

[0019] In another embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the abnormal curve driving determination method are implemented.

[0020] As can be seen from the above technical solution, the above embodiment automatically determines whether the vehicle has any abnormal curve driving during driving by analyzing and calculating the data information corresponding to the vehicle's driving trajectory. This solution can promptly and accurately detect abnormal curve driving during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 This is a schematic diagram of a process for determining abnormal curve driving in one embodiment of the present application;

[0023] Figure 2 This is a schematic diagram of the coordinate point mapping relationship in the embodiment of this application;

[0024] Figure 3 This is a schematic diagram of a process for determining abnormal curve driving in another embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of a process for determining abnormal curve driving in another embodiment of the present application;

[0026] Figure 5 This is a schematic diagram of the structure of the abnormal curve driving determination device in an embodiment of the present application;

[0027] Figure 6 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0029] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products, or apparatus.

[0030] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0031] The present invention provides a method for determining abnormal curve driving. This method automatically determines whether any abnormal curve driving occurs during driving by analyzing and calculating data corresponding to the vehicle's driving trajectory. This method enables timely and accurate detection of abnormal curve driving during driving, allowing the control console to promptly control the unmanned vehicle and avoid traffic accidents.

[0032] The abnormal curve driving determination process in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0033] In the embodiment of the present application, a preset period for executing abnormal curve driving determination can be set, such as 1 second, but there is no restriction on the set preset period, that is, the abnormal curve driving determination is executed once every preset period, and the specific execution process is as shown in the following embodiment.

[0034] See also Figure 1 , Figure 1 This is a schematic diagram of the abnormal curve driving determination process in one embodiment of the present application. The specific steps are:

[0035] Step 101: obtain the real-time coordinates of the vehicle within a preset time and the lane centerline of the driving route, and generate a first sequence set.

[0036] Among them, the preset time is set according to the actual application scenario, and the embodiment of the present application does not limit this.

[0037] When obtaining relevant information within a preset time, the preset time can be a specified time period, or a time period corresponding to the preset time before the current time.

[0038] All unmanned vehicles are equipped with a vehicle-side positioning module that can output the real-time coordinates of the vehicle.

[0039] In this step, the real-time coordinates of the vehicle within the preset time and the lane centerline of the driving route are obtained, including:

[0040] The real-time coordinates of the vehicle are obtained from the vehicle-side positioning module. The real-time coordinates are the coordinates of the center point of the vehicle's rear axle; wherein the coordinate system corresponding to the real-time coordinates is the world coordinate system.

[0041] The lane centerline of the vehicle's driving route within a preset time is obtained based on the vehicle map.

[0042] In specific implementation, the route traveled by the vehicle within the preset time is determined based on the acquired real-time coordinates and the vehicle map. In order to obtain the lane center line more simply and quickly, the lane center line can also be obtained in combination with the navigation route.

[0043] The coordinate points in the first sequence set are arranged in sequence according to the time sequence of the corresponding real-time coordinates, that is, the coordinate points corresponding to the positions that the vehicle passes first are arranged in front of the coordinate points corresponding to the positions that the vehicle passes later.

[0044] The first sequence set can be expressed as: {A1, A2...A N}; A1 to A N Connect the lines in sequence to approximate the driving route.

[0045] Step 102 : Project the coordinate points in the first sequence set onto the center line of the lane in sequence, and obtain the projection points in sequence to generate a second sequence set.

[0046] In the coordinate system of the projection point, the vertical axis (S axis) points in the direction of vehicle travel, the horizontal axis (L axis) points perpendicular to the direction of vehicle travel, and the left side of the direction of travel is the positive direction of the horizontal axis, that is, the left side of the direction of travel is the positive direction of the L axis. The coordinate origin is the starting point of the corresponding lane centerline.

[0047] If the center line of the lane changes, the corresponding coordinate origin changes accordingly.

[0048] The vertical coordinate of the projection point is the length of the lane line between the projection point and the coordinate origin; when the projection point is on the left side of the horizontal axis, the horizontal coordinate of the projection point is the positive value of the projection distance; when the projection point is on the right side of the horizontal axis, the horizontal coordinate of the projection point is the negative value of the projection distance.

[0049] See also Figure 2 , Figure 2 Schematic diagram of coordinate point mapping relationship in the embodiment of this application. Figure 2 The correspondence between coordinate point A1 and projection point B1 is given in .

[0050] Figure 2 The middle coordinate point A1 is the coordinate point corresponding to the acquired real-time coordinates, and the coordinates of the projection point B1 are the projection points corresponding to the coordinate point A1.

[0051] The vertical coordinate of the projection point is the length of the lane line between the projection point B1 and the coordinate origin, that is, the cumulative distance from the projection point to the midpoint of the lane line, not the straight-line distance from the projection point to the coordinate origin; the horizontal coordinate of the projection point B1 is the projection distance, that is Figure 2 H1 in.

[0052] Step 103: Obtain the projection points with extreme values ​​in the second sequence set to generate a third sequence set.

[0053] In this step, the projection points with extreme values ​​in the second sequence set are obtained, including:

[0054] If the abscissa value of the projection point is greater than the abscissa values ​​of the preceding and following adjacent projection points, or the abscissa value of the projection point is less than the abscissa values ​​of the preceding and following adjacent projection points, the projection point is determined to be a projection point with an extreme value.

[0055] The projection points where extreme values ​​are determined are used to generate a third sequence set.

[0056] Step 104 : When it is determined that the number of projection points in the third sequence set is greater than the first preset threshold, it is determined that abnormal curve driving exists within the preset time.

[0057] When it is determined that the number of projection points in the third sequence set is not greater than the first preset threshold, it is determined that there is no abnormal curve driving within the preset time.

[0058] The first preset threshold here can be set according to actual needs, such as 1, 2, etc., and is not limited in the embodiments of the present application.

[0059] In this embodiment, by analyzing and calculating the data information corresponding to the vehicle's driving trajectory, it is automatically determined whether the vehicle has traveled in an abnormal curve during driving. This solution can promptly and accurately detect abnormal curve travel during driving.

[0060] See also Figure 3 , Figure 3 This is a schematic diagram of the abnormal curve driving determination process in another embodiment of the present application. The specific steps are:

[0061] Step 301: obtain the real-time coordinates of the vehicle within a preset time and the lane centerline of the driving route, and generate a first sequence set.

[0062] Among them, the preset time is set according to the actual application scenario, and the embodiment of the present application does not limit this.

[0063] When obtaining relevant information within a preset time, the preset time can be a specified time period, or a time period corresponding to the preset time before the current time.

[0064] All unmanned vehicles are equipped with a vehicle-side positioning module that can output the real-time coordinates of the vehicle.

[0065] In this step, the real-time coordinates of the vehicle within the preset time and the lane centerline of the driving route are obtained, including:

[0066] The real-time coordinates of the vehicle are obtained from the vehicle-side positioning module. The real-time coordinates are the coordinates of the center point of the vehicle's rear axle; wherein the coordinate system corresponding to the real-time coordinates is the world coordinate system.

[0067] The lane centerline of the vehicle's driving route within a preset time is obtained based on the vehicle map.

[0068] In specific implementation, the route traveled by the vehicle within the preset time is determined based on the acquired real-time coordinates and the vehicle map. In order to obtain the lane center line more simply and quickly, the lane center line can also be obtained in combination with the navigation route.

[0069] The coordinate points in the first sequence set are arranged in sequence according to the time sequence of the corresponding real-time coordinates, that is, the coordinate points corresponding to the positions that the vehicle passes first are arranged in front of the coordinate points corresponding to the positions that the vehicle passes later.

[0070] The first sequence set can be expressed as: {A1, A2...AN}; A1 to AN are connected in sequence to approximate the driving route.

[0071] Step 302 : Project the coordinate points in the first sequence set onto the center line of the lane in sequence, and obtain the projection points in sequence to generate a second sequence set.

[0072] In the coordinate system of the projection point, the vertical axis (S axis) points in the direction of vehicle travel, the horizontal axis (L axis) points perpendicular to the direction of vehicle travel, and the left side of the direction of travel is the positive direction of the horizontal axis, that is, the left side of the direction of travel is the positive direction of the L axis. The coordinate origin is the starting point of the corresponding lane centerline.

[0073] If the center line of the lane changes, the corresponding coordinate origin changes accordingly.

[0074] The vertical coordinate of the projection point is the length of the lane line between the projection point and the coordinate origin; when the projection point is on the left side of the horizontal axis, the horizontal coordinate of the projection point is the positive value of the projection distance; when the projection point is on the right side of the horizontal axis, the horizontal coordinate of the projection point is the negative value of the projection distance.

[0075] The second sequence set can be expressed as: {B1, B2...BN}.

[0076] Step 303: Obtain the projection points with extreme values ​​in the second sequence set to generate a third sequence set.

[0077] In this step, the projection points with extreme values ​​in the second sequence set are obtained, including:

[0078] If the abscissa value of the projection point is greater than the abscissa values ​​of the preceding and following adjacent projection points, or the abscissa value of the projection point is less than the abscissa values ​​of the preceding and following adjacent projection points, the projection point is determined to be a projection point with an extreme value.

[0079] The projection points where extreme values ​​are determined are used to generate a third sequence set.

[0080] The third sequence set can be expressed as: {C1, C2...AM}.

[0081] The projection points in the third sequence set are arranged in the same order as the projection points in the second sequence set; and the corresponding points are arranged in the same order.

[0082] Step 304 , determining whether the number of projection points in the third sequence set is greater than a first preset threshold; if so, executing step 305 ; otherwise, executing step 308 .

[0083] The first preset threshold here can be set according to actual needs, such as 1, 2, etc., and is not limited in the embodiments of the present application.

[0084] If the number of projection points in the third set, that is, the number of projection points with extreme values, is not greater than the first preset threshold, it is considered that the driving trajectory within the preset time does not go back and forth when it is curved.

[0085] Step 305 : sequentially calculating the ratio of the difference between the horizontal coordinates and the vertical coordinates of two adjacent projection points in the third sequence set.

[0086] If two adjacent projection points C1(C L1 ,C S1 ) and C2(C L2 ,C S2 )The ratio of the difference between the horizontal and vertical coordinates is:

[0087] (C L2 -C L1 ) / (C S2 -C S1 ).

[0088] Step 306 , determining whether the number of consecutive groups in which the absolute value of the ratio is greater than the second preset threshold is greater than a third preset threshold; if so, executing step 307 ; otherwise, executing step 308 .

[0089] If the absolute values ​​of the ratios of the difference between the horizontal coordinates and the vertical coordinates of the projection points C2 and C1, and C3 and C2 are both greater than two preset thresholds, and the absolute value of the ratio of the difference between the horizontal coordinates and the vertical coordinates of C4 and C3 is not greater than two preset thresholds, then the number of consecutive groups between C1 and C4 that are greater than the preset thresholds is 2;

[0090] The projection points in the third set can all be determined in the above manner. If there are multiple consecutive group numbers, the group number with the largest consecutive group number is selected to compare with the third preset threshold.

[0091] If the absolute value is greater than the second preset threshold, it means that within the fixed longitudinal unit, the lateral difference is greater and the degree of curved driving is more severe.

[0092] The second preset threshold and the third preset threshold can be set according to actual application, and there is no limitation on this in the embodiment of the present application. For example, the third preset threshold can be set to 1, 2, etc.

[0093] Step 307: Determine whether there is abnormal curve driving within the preset time. End this process.

[0094] Step 308: Determine whether there is no abnormal curve driving within the preset time.

[0095] In this embodiment, by analyzing and calculating the data information corresponding to the vehicle's driving trajectory, it is automatically determined whether the vehicle has traveled in an abnormal curve during driving. This solution can promptly and accurately detect abnormal curve travel during driving.

[0096] See also Figure 4 , Figure 4 This is a schematic diagram of the abnormal curve driving determination process in another embodiment of the present application. The specific steps are:

[0097] Step 401: obtain the real-time coordinates of the vehicle within a preset time and the lane centerline of the driving route, and generate a first sequence set.

[0098] Among them, the preset time is set according to the actual application scenario, and the embodiment of the present application does not limit this.

[0099] When obtaining relevant information within a preset time, the preset time can be a specified time period, or a time period corresponding to the preset time before the current time.

[0100] All unmanned vehicles are equipped with a vehicle-side positioning module that can output the real-time coordinates of the vehicle.

[0101] In this step, the real-time coordinates of the vehicle within the preset time and the lane centerline of the driving route are obtained, including:

[0102] The real-time coordinates of the vehicle are obtained from the vehicle-side positioning module. The real-time coordinates are the coordinates of the center point of the vehicle's rear axle; wherein the coordinate system corresponding to the real-time coordinates is the world coordinate system.

[0103] The lane centerline of the vehicle's driving route within a preset time is obtained based on the vehicle map.

[0104] In specific implementation, the route traveled by the vehicle within the preset time is determined based on the acquired real-time coordinates and the vehicle map. In order to obtain the lane center line more simply and quickly, the lane center line can also be obtained in combination with the navigation route.

[0105] The coordinate points in the first sequence set are arranged in sequence according to the time sequence of the corresponding real-time coordinates, that is, the coordinate points corresponding to the positions that the vehicle passes first are arranged in front of the coordinate points corresponding to the positions that the vehicle passes later.

[0106] The first sequence set can be expressed as: {A1, A2...A N}; A1 to A N Connect the lines in sequence to approximate the driving route.

[0107] Step 402: Calculate the travel distance based on the coordinate points in the first sequence set.

[0108] The distance between two adjacent coordinate points in the first sequence set is calculated and summed to obtain the driving distance, which can be calculated using the following formula:

[0109]

[0110] Where D is the driving distance, X k 、Y k The horizontal and vertical coordinates of the coordinate point.

[0111] Step 403 , determining whether the driving distance is greater than a fourth preset threshold, if yes, executing step 404 ; otherwise, executing step 408 .

[0112] If the driving distance is not greater than the fourth preset threshold, it is considered that the vehicle has been parked for a long time within the preset time, which can be determined as no abnormal curve driving is required, or it can be determined that there is no abnormal curve driving within the preset time.

[0113] Step 404 : Project the coordinate points in the first sequence set onto the center line of the lane in sequence, and obtain the projection points in sequence to generate a second sequence set.

[0114] In the coordinate system of the projection point, the vertical axis (S axis) points in the direction of vehicle travel, the horizontal axis (L axis) points perpendicular to the direction of vehicle travel, and the left side of the direction of travel is the positive direction of the horizontal axis, that is, the left side of the direction of travel is the positive direction of the L axis. The coordinate origin is the starting point of the corresponding lane centerline.

[0115] If the center line of the lane changes, the corresponding coordinate origin changes accordingly.

[0116] The vertical coordinate of the projection point is the length of the lane line between the projection point and the coordinate origin; when the projection point is on the left side of the horizontal axis, the horizontal coordinate of the projection point is the positive value of the projection distance; when the projection point is on the right side of the horizontal axis, the horizontal coordinate of the projection point is the negative value of the projection distance.

[0117] Step 405: Obtain the projection points with extreme values ​​in the second sequence set to generate a third sequence set.

[0118] In this step, the projection points with extreme values ​​in the second sequence set are obtained, including:

[0119] If the abscissa value of the projection point is greater than the abscissa values ​​of the preceding and following adjacent projection points, or the abscissa value of the projection point is less than the abscissa values ​​of the preceding and following adjacent projection points, the projection point is determined to be a projection point with an extreme value.

[0120] The projection points where extreme values ​​are determined are used to generate a third sequence set.

[0121] Step 406 , determining whether the number of projection points in the third sequence set is greater than a first preset threshold; if so, executing step 407 ; otherwise, executing step 408 .

[0122] The first preset threshold here can be set according to actual needs, such as 1, 2, etc., and is not limited in the embodiments of the present application.

[0123] Step 407: Determine if there is abnormal curve driving within the preset time. End this process

[0124] Step 408: Determine whether there is no abnormal curve driving within the preset time.

[0125] In this embodiment, by analyzing and calculating the data information corresponding to the vehicle's driving trajectory, it is automatically determined whether the vehicle has traveled in an abnormal curve during driving. This solution can promptly and accurately detect abnormal curve travel during driving.

[0126] In the specific implementation of the embodiment of the present application, if it is determined that abnormal curve driving occurs within the preset time, the vehicle control platform can also be notified to avoid traffic accidents.

[0127] Based on the same inventive concept, the embodiment of the present application also provides a method for determining abnormal curve driving. Figure 5 , Figure 5 Schematic diagram of the structure of the abnormal curve driving determination device in the embodiment of the present application. The abnormal curve driving determination device includes: an acquisition unit 501, a first generation unit 502, a second generation unit 503, a third generation unit 504 and a determination unit 505;

[0128] An acquisition unit 501 is used to acquire the real-time coordinates of the vehicle within a preset time, and the lane centerline of the driving route;

[0129] A first generating unit 502 is configured to generate a first sequence set based on the real-time coordinates acquired by the acquiring unit 501; wherein the coordinate points in the first sequence set are arranged in the order of time when the corresponding real-time coordinates are generated;

[0130] The second generating unit 503 is configured to sequentially project the coordinate points in the first sequence set generated by the first generating unit 502 onto the lane center line obtained by the obtaining unit 501, and sequentially obtain the projected points to generate a second sequence set;

[0131] The third generating unit 504 is configured to obtain the projection points with extreme values ​​in the second sequence set generated by the second generating unit 503 to generate a third sequence set;

[0132] The determining unit 505 is configured to determine that abnormal curved driving occurs within a preset time period when it is determined that the number of projection points in the third sequence set generated by the third generating unit 504 is greater than a first preset threshold.

[0133] In another embodiment, the apparatus further comprises: a computing unit 506;

[0134] a calculating unit 506 configured to, when the determining unit 505 determines that the number of projection points in the third sequence set is greater than the first preset threshold, sequentially calculate a ratio of a difference between the abscissa and the ordinate of two adjacent projection points in the third sequence set; wherein the projection points in the third sequence set are arranged in the same order as that in the second sequence set;

[0135] The determination unit 505 is further used to determine whether the number of consecutive groups in which the absolute value of the ratio is greater than the second preset threshold is greater than a third preset threshold. If so, it is determined that there is abnormal curve driving within the preset time; otherwise, it is determined that there is no abnormal curve driving within the preset time.

[0136] In another embodiment, the apparatus further comprises: a computing unit 506;

[0137] A calculation unit 506 is configured to calculate the travel distance according to the coordinate points in the first sequence set when the first generation unit 502 generates the first sequence set;

[0138] The determination unit 505 is further used to determine whether the driving distance calculated by the calculation unit is greater than a fourth preset threshold value. If so, the step of projecting the coordinate points in the first sequence set onto the center line of the lane is performed; otherwise, it is determined that there is no abnormal curve driving within the preset time.

[0139] In another embodiment,

[0140] In the coordinate system where the projection point is located, the vertical axis points to the direction of vehicle travel, the horizontal axis points to the direction perpendicular to the direction of vehicle travel, the left side of the direction of travel is the positive direction of the horizontal axis, and the coordinate origin is the starting point of the corresponding lane centerline;

[0141] The vertical coordinate of the projection point is the length of the lane line between the projection point and the coordinate origin; when the projection point is on the left side of the horizontal axis, the horizontal coordinate of the projection point is the positive value of the projection distance; when the projection point is on the right side of the horizontal axis, the horizontal coordinate of the projection point is the negative value of the projection distance.

[0142] In another embodiment,

[0143] The third generating unit 504 is specifically configured to determine that the projection point is a projection point with an extreme value if the abscissa value of the projection point is greater than the abscissa values ​​of the preceding and following adjacent projection points, or if the abscissa value of the projection point is less than the abscissa value of the preceding and following adjacent projection points.

[0144] In another embodiment,

[0145] The acquisition unit 501 is specifically used to obtain the real-time coordinates of the vehicle from the vehicle's positioning module, where the real-time coordinates are the coordinates of the center point of the vehicle's rear axle; and obtain the lane centerline of the vehicle's driving route within a preset time based on the vehicle map.

[0146] In another embodiment, the apparatus includes: a notification unit 508;

[0147] The notification unit 508 is used to notify the vehicle control platform that the vehicle has traveled on an abnormal curve within the preset time when the determination unit 505 determines that the vehicle has traveled on an abnormal curve within the preset time.

[0148] The units in the above embodiments may be integrated into one body or deployed separately; they may be combined into one unit or further divided into multiple sub-units.

[0149] In another embodiment, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the abnormal curve driving determination method are implemented.

[0150] In another embodiment, a computer-readable storage medium is provided, on which computer instructions are stored. When the instructions are executed by a processor, the steps in the abnormal curve driving determination method can be implemented.

[0151] Figure 6 Schematic diagram of the physical structure of the electronic device provided by the embodiment of the present invention. Figure 6 As shown, the electronic device may include: a processor (Processor) 610, a communication interface (Communications Interface) 620, a memory (Memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the following method:

[0152] Obtaining the real-time coordinates of the vehicle within a preset time period and the centerline of the lane of the driving route, and generating a first sequence set; wherein the coordinate points in the first sequence set are arranged in the order of the time when the corresponding real-time coordinates were generated;

[0153] Project the coordinate points in the first sequence set onto the lane centerline in sequence, and obtain the projection points in sequence to generate a second sequence set;

[0154] Obtaining the projection points with extreme values ​​in the second sequence set to generate a third sequence set;

[0155] When it is determined that the number of projection points in the third sequence set is greater than the first preset threshold, it is determined that abnormal curve driving occurs within the preset time.

[0156] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0157] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0158] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0159] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for determining abnormal curve driving, characterized in that: The method comprises: Obtaining the real-time coordinates of the vehicle within a preset time period and the lane centerline of the driving route, and generating a first sequence set; wherein the coordinate points in the first sequence set are arranged in the order of the time when the corresponding real-time coordinates were generated; Project the coordinate points in the first sequence set onto the lane centerline in sequence, and obtain the projection points in sequence to generate a second sequence set; Obtaining projection points with extreme values ​​in the second sequence set to generate a third sequence set; When it is determined that the number of projection points in the third sequence set is greater than a first preset threshold, it is determined that abnormal curve driving occurs within the preset time.

2. The method according to claim 1, characterized in that After determining that the number of projection points in the third sequence set is greater than a first preset threshold, and before determining that there is abnormal curve driving within the preset time, the method further includes: sequentially calculating the ratio of the difference between the horizontal coordinates and the vertical coordinates of two adjacent projection points in the third sequence set; wherein the arrangement order of the projection points in the third sequence set is the same as that in the second sequence set; Determine whether the number of consecutive groups in which the absolute value of the ratio is greater than the second preset threshold is greater than a third preset threshold. If so, determine that abnormal curve driving exists within the preset time; otherwise, determine that abnormal curve driving does not exist within the preset time.

3. The method according to claim 1, characterized in that After generating the first sequence set and before sequentially projecting the coordinate points in the first sequence set onto the lane centerline, the method further includes: Calculating the travel distance based on the coordinate points in the first sequence set; Determine whether the driving distance is greater than a fourth preset threshold. If so, execute the step of projecting the coordinate points in the first sequence set onto the lane centerline in sequence; otherwise, determine that there is no abnormal curve driving within the preset time.

4. The method according to claim 1, wherein In the coordinate system where the projection point is located, the vertical axis points to the direction of vehicle travel, the horizontal axis points to a direction perpendicular to the direction of vehicle travel, the left side of the direction of travel is the positive direction of the horizontal axis, and the coordinate origin is the starting point of the corresponding lane centerline; The vertical coordinate of the projection point is the length corresponding to the lane line between the projection point and the coordinate origin; when the projection point is on the left side of the horizontal axis, the horizontal coordinate of the projection point is a positive value of the projection distance; when the projection point is on the right side of the horizontal axis, the horizontal coordinate of the projection point is a negative value of the projection distance.

5. The method according to claim 1, characterized in that The obtaining of the projection points having extreme values ​​in the second sequence set includes: If the horizontal coordinate value of the projection point is greater than the horizontal coordinate values ​​of the front and rear adjacent projection points, or the horizontal coordinate value of the projection point is less than the horizontal coordinate values ​​of the front and rear adjacent projection points, then the projection point is determined to be a projection point with an extreme value; wherein, in the coordinate system where the projection point is located: the vertical axis points to the direction of vehicle travel, the horizontal axis points to the direction perpendicular to the direction of vehicle travel, the left side of the travel direction is the positive direction of the horizontal axis, and the coordinate origin is the starting point of the corresponding lane centerline.

6. The method according to claim 1, characterized in that The method of obtaining the real-time coordinates of the vehicle within a preset time and the center line of the lane of the driving route includes: Obtaining the real-time coordinates of the vehicle from the vehicle's positioning module, wherein the real-time coordinates are the coordinates of the center point of the vehicle's rear axle; The center line of the lane of the vehicle's driving route within a preset time is obtained based on the vehicle map.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When it is determined that the vehicle has traveled on an abnormal curve within the preset time, the vehicle control platform is notified that the vehicle has traveled on an abnormal curve within the preset time.

8. An abnormal curve driving determination device, characterized in that: The device includes: an acquisition unit, a first generation unit, a second generation unit, a third generation unit and a determination unit; The acquisition unit is used to acquire the real-time coordinates of the vehicle within a preset time and the lane center line of the driving route; The first generating unit is configured to generate a first sequence set based on the real-time coordinates acquired by the acquiring unit; wherein the coordinate points in the first sequence set are arranged in sequence according to the time sequence of the corresponding real-time coordinates; The second generating unit is configured to sequentially project the coordinate points in the first sequence set generated by the first generating unit onto the lane center line obtained by the obtaining unit, and sequentially obtain the projected points to generate a second sequence set; The third generating unit is configured to obtain projection points with extreme values ​​in the second sequence set generated by the second generating unit to generate a third sequence set; The determining unit is configured to determine that abnormal curved driving exists within the preset time when it is determined that the number of projection points in the third sequence set generated by the third generating unit is greater than a first preset threshold.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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