Vehicle information processing method, device, storage medium and vehicle

Abstract

The present invention discloses a vehicle information processing method, device, storage medium, and vehicle. The method comprises: obtaining first data about the vehicle at the current moment; determining second data about the vehicle at a future moment based on the first data; determining the target positioning state of the vehicle at the current moment based on the first and second data; and determining driving strategy data for the vehicle based on the target positioning state. This invention solves the technical problem of being unable to accurately determine when a vehicle's positioning drift occurs.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, device, storage medium and vehicle for processing vehicle information. Background Art

[0002] At present, the stability of vehicle planning and control mainly depends on high-precision positioning. However, due to force majeure factors such as signal transmission, physical obstructions, and equipment abnormalities, errors may occur in the positioning information received by the vehicle control system, causing command errors and even collision accidents during vehicle movement.

[0003] Currently, no effective solution has been proposed to the above-mentioned problem of being unable to accurately determine the positioning drift of the vehicle. Summary of the Invention

[0004] Embodiments of the present invention provide a method, device, storage medium, and vehicle for processing vehicle information, so as to at least solve the technical problem of being unable to accurately determine whether a vehicle has a positioning drift phenomenon.

[0005] According to one aspect of an embodiment of the present invention, a vehicle information processing method, apparatus, storage medium, and vehicle are provided. The method may include: obtaining first data of the vehicle at the current moment, wherein the first data includes driving data and position data of the vehicle at the current moment; determining second data of the vehicle at a future moment based on the first data, wherein the future moment is a moment after the current moment, and the second data includes driving data and position data of the vehicle at the future moment; determining the target positioning state of the vehicle at the current moment based on the first data and the second data, wherein the target positioning state is used to indicate whether the vehicle's positioning information has drifted; and determining driving strategy data of the vehicle based on the target positioning state, wherein the driving strategy data is used to indicate the vehicle's driving strategy.

[0006] Optionally, based on the first data and the second data, determining the target positioning state of the vehicle at the current moment includes at least one of the following: based on the first data and the second data, determining the initial positioning state of the vehicle at the current position, wherein the initial positioning state is used to characterize suspected drift in the positioning information of the vehicle; updating the initial positioning state based on the first data to obtain the target positioning state of the vehicle at the current moment.

[0007] Optionally, based on the first data and the second data, the initial positioning state of the vehicle at the current position is determined, including at least one of the following: based on the first data and the second data, the position state of the vehicle at the current moment is determined, wherein the position state is used to characterize the drift of the vehicle's position information; based on the first data and / or the second data, the heading state of the vehicle at the current moment is determined, wherein the heading state is used to characterize the drift of the vehicle's heading information; based on the position state and / or the heading state, the initial positioning state of the vehicle at the current position is determined.

[0008] Optionally, based on the position state and / or heading state, the initial positioning state of the vehicle at the current position is determined, including: in response to the position state being a position drift state and / or the heading state being a heading drift state, determining that the initial positioning state is a suspected drift state.

[0009] Optionally, the initial positioning state is updated based on the first data to obtain the target positioning state of the vehicle at the current moment, including: determining the steering request state of the vehicle at the current moment based on the first data, wherein the steering request state is used to characterize that there is an abnormality in the steering request information of the vehicle; in response to the initial positioning state being a suspected drift state and the steering request state being an abnormal state, determining that the target positioning state is a positioning drift state.

[0010] Optionally, based on the first data, the steering request state of the vehicle at the current moment is determined, including: determining third data based on the first data and a reference driving path of the vehicle, wherein the third data is used to characterize the expected steering angle of the vehicle at the current moment; in response to the third data being greater than or equal to the expected steering angle threshold, determining that the steering request state is an abnormal state.

[0011] Optionally, after determining the vehicle's driving strategy data based on the target positioning state, the method further includes: adjusting the vehicle's current driving state based on the driving strategy data, and sending a prompt message, wherein the prompt message is used to prompt that the positioning information has drifted.

[0012] According to another aspect of an embodiment of the present invention, a vehicle information processing device is also provided. The device may include: an acquisition unit for acquiring first data of the vehicle at the current moment, wherein the first data includes the vehicle's driving data and the vehicle's position data at the current moment; a first determination unit for determining second data of the vehicle at a future moment based on the first data, wherein the future moment is a moment after the current moment, and the second data includes the vehicle's driving data and the vehicle's position data at the future moment; a second determination unit for determining a target positioning state of the vehicle at the current moment based on the first data and the second data, wherein the target positioning state is used to indicate whether the vehicle's positioning information has drifted; and a third determination unit for determining driving strategy data of the vehicle based on the target positioning state, wherein the driving strategy data is used to indicate the vehicle's driving strategy.

[0013] According to another aspect of an embodiment of the present invention, a vehicle is provided, which is used to execute the vehicle information processing method according to an embodiment of the present invention.

[0014] In an embodiment of the present invention, first data of the vehicle at the current moment is obtained, wherein the first data includes the driving data of the vehicle at the current moment and the position data of the vehicle at the current moment; based on the first data, second data of the vehicle at a future moment is determined, wherein the future moment is a moment after the current moment, and the second data includes the driving data of the vehicle at the future moment and the position data of the vehicle at the future moment; based on the first data and the second data, the target positioning state of the vehicle at the current moment is determined, wherein the target positioning state is used to characterize the drift phenomenon of the positioning information of the vehicle; based on the target positioning state, the driving strategy data of the vehicle is determined, wherein the driving strategy data is used to characterize the driving strategy of the vehicle. That is to say, the embodiment of the present invention judges the positioning state of the vehicle by obtaining the driving information and positioning information of the vehicle at different moments, and when it is determined that the positioning information of the vehicle has drifted, further determines the driving strategy of the vehicle, so as to prevent the occurrence of dangerous working conditions and control the safe driving of the vehicle, thereby solving the technical problem of being unable to accurately judge the positioning drift phenomenon of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 is a flow chart of a method for processing vehicle information according to an embodiment of the present invention;

[0017] Figure 2is a flow chart of a method for detecting and correcting vehicle positioning drift according to an embodiment of the present invention;

[0018] Figure 3 2 is a schematic diagram of a vehicle information processing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] Example 1

[0022] According to an embodiment of the present invention, a method for processing vehicle information is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0023] Figure 1 FIG. 1 is a flow chart of a method for processing vehicle information according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0024] Step S101 , obtaining first data of the vehicle at the current moment, wherein the first data includes the driving data of the vehicle at the current moment and the position data of the vehicle at the current moment.

[0025] In the technical solution provided in the above step S101 of the present invention, the driving data of the vehicle at the current moment and the position data of the vehicle at the current moment are obtained, wherein the vehicle may be a vehicle that is currently traveling, and the driving data and position data of the vehicle at the current moment may be the actual values ​​of the driving data and position data at the current moment. The driving data at the current moment may include the driving speed data and yaw angular velocity data of the vehicle at the current moment, and the position data at the current moment may include the absolute time data, heading data and direction coordinate data of the vehicle at the current moment. This is only used as an example and is not specifically limited.

[0026] Step S102: determining second data of the vehicle at a future time based on the first data, wherein the future time is a time after the current time, and the second data includes the driving data of the vehicle at the future time and the position data of the vehicle at the future time.

[0027] In the technical solution provided in the above step S102 of the present invention, the driving data and position data of the vehicle at a future moment are calculated based on the acquired driving data and position data of the vehicle at the current moment and the historical data of the vehicle, wherein the driving data and position data of the vehicle at a future moment may be estimated values ​​of the driving data and position data at a future moment, and the historical data of the vehicle may include the driving data, position data and control data of the vehicle at a previous moment.

[0028] Optionally, the vehicle's driving data at future times may include the average driving speed and average yaw angular velocity of the vehicle at future times, and the position data at future times may include the vehicle's heading data and direction coordinate data at future times. This is only an example and is not specifically limited.

[0029] Optionally, the vehicle's driving data at the previous moment may include the vehicle's driving speed data and yaw angular velocity data at the previous moment, the position data at the previous moment may be the vehicle's absolute time data, heading data and direction coordinate data at the previous moment, and the control data at the previous moment may be the vehicle's requested steering angle data at the previous moment. This is only an example and is not specifically limited.

[0030] Step S103: determining the target positioning state of the vehicle at the current moment based on the first data and the second data, wherein the target positioning state is used to indicate that the positioning information of the vehicle has drifted.

[0031] In the technical solution of step S103 of the present invention, the first data and the second data are first calculated, and it is determined whether there is a drift phenomenon in the positioning information of the vehicle at the current position based on the calculation result to determine the initial positioning state of the vehicle at the current position. Then, the positioning state of the vehicle at the current position is updated based on the first data, and the positioning information of the vehicle at the current moment is comprehensively judged in combination with the reference driving path of the vehicle to obtain the target positioning state of the vehicle at the current moment, wherein the positioning state of the vehicle at the current position is used to characterize whether there is a suspected drift phenomenon in the positioning information of the vehicle.

[0032] Optionally, the first data and the second data are calculated, and the calculation result obtained can be the difference between the actual value and the calculated estimated value. The calculation result obtained is compared with a preset threshold value, and based on the comparison result, it is determined whether there is drift in the positioning information of the vehicle at the current position.

[0033] Step S104: determining driving strategy data of the vehicle based on the target positioning state, wherein the driving strategy data is used to characterize the driving strategy of the vehicle.

[0034] In the technical solution of step S104 of the present invention, based on the target positioning state of the vehicle at the current moment, the driving strategy data of the vehicle is determined to adjust the current driving state of the vehicle, and a prompt message is sent to the vehicle. The driving strategy data may include vehicle steering angle data and vehicle driving speed data, etc., which are only used as examples here and are not specifically limited.

[0035] Optionally, the prompt information can be used to prompt that the vehicle's positioning information is drifting. The prompt can be given through sound or through an interface display. This is only an example and is not specifically limited.

[0036] The above method of this embodiment is further introduced below.

[0037] As an optional implementation method, step S103 determines the initial positioning state of the vehicle at the current position based on the first data and the second data, updates the initial positioning state based on the first data, and obtains the target positioning state of the vehicle at the current moment, wherein the initial positioning state is used to characterize the suspected drift phenomenon of the vehicle's positioning information, and the target positioning state is used to characterize the drift phenomenon of the vehicle's positioning information.

[0038] In this embodiment, the initial positioning state of the vehicle at the current position is judged based on the first data and the second data to determine whether there is a deviation in the positioning state of the vehicle at the current position. When it is determined that the initial positioning state of the vehicle is a suspected drift state, the initial positioning state of the vehicle is updated according to the actual value obtained, and based on the actual value obtained and the reference driving path of the vehicle, the target positioning state of the vehicle at the current moment is determined.

[0039] As an optional embodiment, based on the first data and the second data, the position state of the vehicle at the current moment is determined, based on the first data and / or the second data, the heading state of the vehicle at the current moment is determined, and based on the position state and / or the heading state, the initial positioning state of the vehicle at the current position is determined, wherein the position state is used to characterize the drift phenomenon of the vehicle's position information, and the heading state is used to characterize the drift phenomenon of the vehicle's heading information.

[0040] In this embodiment, the position state and heading state of the vehicle at the current moment are determined by calculating the first data and the second data. When the position state of the vehicle is in a position drift state or the heading state is in a heading drift state, it can be determined that the initial positioning state of the vehicle at the current position is a suspected drift state. The first data may include the current position data (X curr and Y curr ), current heading data (H curr ) and the current yaw rate (Yaw curr ), the second data may include estimated position data (X pred and Y pred ), estimated heading data (H pred ) and estimated yaw rate data (Yaw pred ).

[0041] Optionally, the position state and heading state of the vehicle at the current moment can be determined by calculating the deviation data between the first data and the second data, wherein the deviation data between the first data and the second data may include position deviation data (X error and Y error ), position deviation absolute distance data (D error ) and yaw rate deviation data (Yaw error ).

[0042] Optionally, the position deviation threshold data D is preset max , heading deviation threshold data H max and yaw rate deviation threshold data Yaw max , when the deviation data between the first data and the second data satisfies X error ≥D max 、Y error ≥Dmax or D error ≥D max If any of the conditions in the Yaw , it indicates that the vehicle's current position information is drifting, that is, the vehicle's current position state is a position drift state; when the deviation data between the first data and the second data meets the Yaw error ≥Yaw max or Yaw pred ≥Yaw max If any of the conditions is met, it indicates that the vehicle's heading information at the current moment is offset, that is, the vehicle's heading state at the current moment is a heading drift state, wherein the preset threshold value can be a value set by itself according to the actual situation. This is only used as an example and is not specifically limited.

[0043] Optionally, when one of the position and heading of the vehicle at the current moment drifts, it can be determined that the positioning information of the vehicle at the current position has a suspected drift phenomenon, that is, the initial positioning state is a suspected drift state.

[0044] As an optional embodiment, based on the first data, the steering request state of the vehicle at the current moment is determined, and in response to the initial positioning state being a suspected drift state and the steering request state being an abnormal state, the target positioning state is determined to be a positioning drift state, wherein the steering request state is used to characterize that the vehicle's steering request information is abnormal.

[0045] In this embodiment, when it is determined that the initial positioning state of the vehicle is a suspected drift state, the steering request state of the vehicle at the current moment is judged based on the first data and the reference driving path of the vehicle. If the vehicle steering request is abnormal, it can be determined that the target positioning state of the vehicle at the current moment is a positioning drift state.

[0046] As an optional embodiment, third data is determined based on the first data and the reference driving path of the vehicle. In response to the third data being greater than or equal to the expected steering angular velocity threshold, the steering request state is determined to be an abnormal state, wherein the third data is used to characterize the expected steering angular velocity of the vehicle at the current moment.

[0047] In this embodiment, third data is calculated based on the current position data, current heading data, and current yaw angle data in the first data and the reference driving path of the vehicle, and then the third data is compared with preset threshold data. If the third data is greater than or equal to the preset threshold data, it is determined that the steering request of the vehicle at the current moment is abnormal, that is, the steering request state of the vehicle at the current moment is abnormal. The third data may be the expected steering angular velocity of the vehicle at the current moment, and the preset threshold data may be the expected steering angular velocity threshold set according to actual conditions. The comparison result between the third data and the preset threshold data can be used to characterize whether the vehicle makes a sharp turn.

[0048] Optionally, the desired steering angular velocity may be controlled and adjusted manually or by a vehicle computer, which is merely an example and not a specific limitation.

[0049] As an optional embodiment, step S104, after determining the vehicle's driving strategy data based on the target positioning state, also includes: adjusting the vehicle's current driving state based on the driving strategy data, and sending a prompt message, wherein the prompt message is used to prompt that the positioning information has drifted.

[0050] In this embodiment, when the target positioning state is determined to be a positioning drift state, the vehicle's driving strategy data is determined based on the actual values ​​and historical data of the acquired vehicle driving data and position data, so as to adjust the vehicle's current driving state to ensure safe driving of the vehicle. The vehicle's driving strategy data includes: the vehicle's steering angle, the vehicle's driving speed and prompt information, which is only used as an example here and is not specifically limited.

[0051] Optionally, the current driving state of the vehicle can be adjusted by first briefly using a historical steering request to control the vehicle, and then sending a deceleration signal to the vehicle to control the vehicle to decelerate until it stops, so as to reduce the driving risk when the vehicle has positioning drift. After maintaining the historical steering request to control the vehicle and slowing down to stop, a prompt message is sent to the vehicle to remind the operator that the vehicle has positioning drift and there is a risk of collision, and safety measures need to be taken immediately.

[0052] This embodiment obtains the vehicle's current driving data and position data, determines an estimated value for the vehicle's driving data and position data at a future time, and determines whether the vehicle's current positioning information has drifted, thereby determining the vehicle's driving strategy, adjusting the vehicle's driving state, and issuing corresponding prompt information. In other words, the present invention determines high-precision positioning based on the vehicle's driving information and vehicle control information obtained at different times, determines the vehicle's driving strategy when positioning drift occurs, and thus achieves the technical effect of accurately determining whether the vehicle has experienced positioning drift, solving the technical problem of being unable to accurately determine whether the vehicle has experienced positioning drift.

[0053] Example 2

[0054] The technical solutions of the embodiments of the present invention are described below with reference to preferred implementation methods.

[0055] Autonomous driving vehicles, also known as unmanned vehicles or wheeled mobile robots, mainly rely on the intelligent driving device based on the computer system in the vehicle to achieve the purpose of unmanned driving. It is a kind of intelligent vehicle that can achieve unmanned driving by carrying a combination of multiple systems, which can improve traffic safety and road traffic rate.

[0056] While the vehicle is moving, it relies on high-precision positioning and high-precision map matching to identify its current position (and also uses high-precision positioning for steering control). High-precision positioning relies on receiving GPS data and analyzing differential signals. Network transmission, physical obstructions, equipment failures, and calculation errors can all cause the positioning information received by the vehicle control system to drift.

[0057] If this phenomenon occurs while the vehicle is moving, it can cause control command calculation errors and even collisions. High-precision positioning is crucial for safe driving. Promptly identifying high-precision positioning drift, correcting erroneous vehicle control commands, and sending timely alerts are crucial to addressing the threat of high-precision positioning drift to vehicle safety.

[0058] In this embodiment, Figure 2 FIG. 1 is a flow chart of a method for detecting and correcting vehicle positioning drift according to an embodiment of the present invention. Figure 2 As shown, the method may include the following steps:

[0059] Step S201: Acquire vehicle information, positioning information, and reference path.

[0060] Optionally, the vehicle information may include the vehicle's driving speed and the vehicle's yaw angular velocity, where the vehicle's driving speed (velocity, abbreviated as V) is measured in meters per second (m / s), the vehicle's yaw angular velocity (yawvelocity, abbreviated as Yaw) is measured in degrees per second (rad / s), and the vehicle's heading (heading, abbreviated as H) is measured in degrees (rad).

[0061] Optionally, the positioning information may include the absolute time, heading and direction coordinates of the vehicle, the absolute time (time, abbreviated as T) of the vehicle is in seconds (abbreviated as s), and the direction coordinate information of the vehicle may include the components {X, Y} of the vehicle in different directions in the world coordinate system, in meters (abbreviated as m).

[0062] Step S202: Obtain historical data.

[0063] Optionally, the historical data may be the vehicle data, positioning data, and control data of the vehicle at the last moment. The vehicle data of the vehicle at the last moment may include the speed data and yaw rate data of the last moment. The speed of the last moment may be expressed as V last , the yaw angular velocity at the last moment can be expressed as Yaw last The vehicle's positioning data at the last moment can include the absolute time data, heading data, and direction coordinate data of the last moment. The absolute time of the last moment can be expressed as T last , the heading at the last moment can be expressed as H last , the direction coordinates of the previous moment can be expressed as {X last ,Y last}, the control data of the vehicle at the last moment may include the requested steering angle data at the last moment, and the requested steering angle at the last moment may be expressed as S last .

[0064] Step S203: input the acquired information into the vehicle motion state estimator.

[0065] Optionally, the acquired vehicle information and positioning information are input into a vehicle motion state estimator to obtain an estimated value of the vehicle's positioning information at a future time.

[0066] Optionally, obtaining vehicle information and positioning information may be obtaining vehicle data and positioning data of the vehicle at the current moment. The vehicle data of the vehicle at the current moment may include speed data and yaw rate data at the current moment. The speed at the current moment may be expressed as V curr , the yaw angular velocity at the current moment can be expressed as Yaw currThe vehicle's positioning data at the current moment may include the absolute time data, heading data, and direction coordinate data of the current moment. The absolute time of the current moment can be expressed as T curr , the current heading can be expressed as H curr , the direction coordinates at the current moment can be expressed as {X curr ,Y curr}.

[0067] Optionally, since the update frequency of high-precision positioning can reach 10 Hz, a calculation is triggered every time the positioning information is updated, assuming that the vehicle linear velocity and yaw angular velocity are both uniformly accelerated motion during the positioning information update.

[0068] Optionally, calculating estimated values ​​of vehicle data and positioning data of the vehicle at a future time includes:

[0069] Calculate the positioning update time difference:

[0070] Δt=T curr -T last (1)

[0071] In the above formula (1), Δt represents the positioning update time difference, T represents the absolute time, and the subscript curr Indicates the current moment, subscript last Indicates the time before the current time. The same applies to the following variables.

[0072] Calculate the average linear speed of the vehicle:

[0073] V mean =(V last +V curr )×0.5 (2)

[0074] In the above formula (2), V represents the linear velocity of the vehicle, and the subscript mean represents the average value, and the same applies to the remaining variables below.

[0075] Calculate the average vehicle yaw rate:

[0076] Yaw mean =(Yaw last +Yaw curr )×0.5 (3)

[0077] In the above formula (3), Yaw represents the yaw angular velocity of the vehicle.

[0078] Calculate the estimated vehicle heading angle:

[0079] H pred =H last +Yaw mean ×Δt (4)

[0080] In the above formula (4), H represents the heading angle of the vehicle, and the subscript pred Indicates the time after the current time, and the same applies to the following variables.

[0081] Calculate the estimated vehicle direction coordinates:

[0082]

[0083]

[0084] In the above formula (5), {X, Y} represents the direction coordinates of the vehicle in the world coordinate system.

[0085] Calculate the estimated vehicle heading angle:

[0086] Yaw pred =|H curr -H last |÷Δt (6)

[0087] Step S204: Check whether the vehicle position deviates from the estimated position.

[0088] Optionally, the acquired actual value and the estimated value of the vehicle's positioning information at the future moment are calculated to determine whether there is a deviation.

[0089] Optionally, calculating the acquired actual value and the obtained estimated value may be calculating an error between the actual value and the estimated value.

[0090] Calculate the error value of the direction coordinate:

[0091] X error =|X pred -X curr |

[0092] Y error =|Y pred -Y curr | (7)

[0093] In the above formula (7), the subscript error represents the error value, and the same applies to the remaining variables.

[0094]

[0095] In the above formula (8), D error Indicates the absolute distance of the vehicle's position deviation.

[0096] Calculate the error value of the vehicle's yaw rate:

[0097] Yaw error =|Yawpred -Yaw curr | (9)

[0098] Optionally, based on the obtained error value, the position state and / or heading state of the vehicle at the current moment is judged to determine whether the position state of the vehicle at the current moment is a position drift state and whether the heading state of the vehicle at the current moment is a heading drift state.

[0099] Optionally, the vehicle position error value is compared with a preset threshold value to determine whether the vehicle's position state at the current moment is a position drift state. When the vehicle position error value satisfies one of the following conditions, indicating that the vehicle position is drifting, the vehicle's position state at the current moment is confirmed to be a position drift state, wherein the preset threshold value may be a preset position deviation threshold value:

[0100]

[0101] In the above formula (10), D max Indicates the position deviation threshold.

[0102] Optionally, the vehicle heading error value is compared with a preset threshold value to determine whether the heading state of the vehicle at the current moment is a heading drift state, wherein the preset threshold value may be a preset angle deviation threshold value.

[0103] Optionally, when the vehicle heading error value satisfies one of the following conditions, indicating that the vehicle heading is drifting, the vehicle heading state at the current moment is determined to be in a heading drift state:

[0104]

[0105] In the above formula (11), Yaw max Indicates the vehicle's maximum yaw rate threshold.

[0106] Step S205 : Calculate the vehicle's steering request gradient using a path tracking algorithm.

[0107] Optionally, the steering request gradient of the vehicle may be used to represent a change trend of the steering request angular velocity of the vehicle.

[0108] Optionally, based on the vehicle's current position information and the reference path, the expected steering angle of the vehicle at the current moment is calculated, and then the expected steering angular velocity of the vehicle at the current moment is calculated:

[0109] ω curr =|S curr -S last |÷Δt (12)

[0110] In the above formula (12), ωcurr Indicates the desired steering angular velocity of the vehicle at the current moment.

[0111] Step S206: Whether the vehicle steering request gradient exceeds a threshold.

[0112] Optionally, when it is determined that the deviation value between the acquired estimated value and the actual value exceeds a preset threshold, the vehicle steering request gradient judgment is entered to determine whether the vehicle steering request gradient exceeds the threshold.

[0113] Optionally, the current expected steering angular velocity is compared with a preset threshold value. When the vehicle's expected steering angular velocity satisfies the following conditions, it is determined that the vehicle's steering request at the current moment is abnormal:

[0114] ω curr ≥ω max (13)

[0115] In the above formula (13), ω max Indicates the desired steering angular velocity threshold.

[0116] Step S207: Process vehicle control information.

[0117] Optionally, when it is determined that the steering request gradient of the vehicle exceeds a threshold, the control information of the vehicle is adjusted to ensure safe driving of the vehicle.

[0118] Optionally, when the target positioning state is determined to be a positioning drift state, the vehicle's steering request is abnormal. If this abnormal steering request is executed, the vehicle is at risk of collision. Since the vehicle's driving path is continuous, the angle changes smoothly, and the positioning change time is short, the historical steering request can be used briefly to control the vehicle to maintain the vehicle's steering angle to avoid collision, that is, S curr =S last .

[0119] Optionally, since the actual path of the vehicle is curved, there is still a driving risk if the vehicle steering angle is maintained for a long time, so a deceleration signal can be sent to the vehicle to control the vehicle to decelerate until it stops.

[0120] Step S208: Update historical data.

[0121] Optionally, when it is determined that there is a deviation between the estimated value of the vehicle's positioning information at a future time and the actual value and the deviation value exceeds a preset threshold or there is no deviation, and the vehicle steering request angle does not exceed the threshold, the historical data is updated based on the acquired vehicle information.

[0122] An embodiment of the present invention discloses a positioning drift detection and processing method. The method calculates the estimated position of the vehicle in the future by using the current position, driving speed and direction of the vehicle. At the same time, since the steering angle of the vehicle changes continuously during the process of tracking a fixed reference trajectory, the spatial continuity and the steering angle continuity are comprehensively utilized. When problems occur with both, it can be confirmed that the vehicle positioning has a high probability of drifting. If the vehicle is continued to be controlled according to the control instructions calculated based on this position, a safety accident will occur. Therefore, when the drift phenomenon occurs, the vehicle request signal is corrected, thereby achieving the technical effect of accurately judging the occurrence of positioning drift in the vehicle, and solving the technical problem of being unable to accurately judge the occurrence of positioning drift in the vehicle.

[0123] Example 3

[0124] According to an embodiment of the present invention, a vehicle information processing device is further provided. It should be noted that the vehicle information processing device can be used to execute the vehicle information processing method in Example 1.

[0125] Figure 3 FIG. 1 is a schematic diagram of a vehicle information processing device according to an embodiment of the present invention. Figure 3 As shown, the vehicle information processing device 30 may include: an acquisition unit 301 , a first determination unit 302 , a second determination unit 303 and a third determination unit 304 .

[0126] An acquiring unit 301 is configured to acquire first data of the vehicle at a current moment, wherein the first data includes driving data and position data of the vehicle at a current moment;

[0127] A first determining unit 302 is configured to determine second data of the vehicle at a future time based on the first data, wherein the future time is a time after the current time, and the second data includes driving data of the vehicle at the future time and position data of the vehicle at the future time;

[0128] A second determining unit 303 is configured to determine a target positioning state of the vehicle at a current moment based on the first data and the second data, wherein the target positioning state is used to indicate that the positioning information of the vehicle is drifting;

[0129] The third determining unit 304 is configured to determine driving strategy data of the vehicle based on the target positioning state, wherein the driving strategy data is used to represent the driving strategy of the vehicle.

[0130] Optionally, the second determination unit 303 may include: a first determination subunit, used to determine the initial positioning state of the vehicle at the current position based on the first data and the second data, wherein the initial positioning state is used to characterize the suspected drift phenomenon of the vehicle's positioning information; an updating subunit, used to update the initial positioning state based on the first data to obtain the target positioning state of the vehicle at the current moment.

[0131] Optionally, the first determination subunit may include at least one of the following: a first determination module, used to determine the position state of the vehicle at the current moment based on the first data and the second data, wherein the position state is used to characterize the drift phenomenon of the vehicle's position information; a second determination module, used to determine the heading state of the vehicle at the current moment based on the first data and / or the second data, wherein the heading state is used to characterize the drift phenomenon of the vehicle's heading information; a third determination module, used to determine the initial positioning state of the vehicle at the current position based on the position state and / or the heading state.

[0132] Optionally, the third determining module may include: a first determining submodule, configured to determine that the initial positioning state is a suspected drift state in response to the position state being a position drift state and / or the heading state being a heading drift state.

[0133] Optionally, the update subunit may include: a fourth determination module, used to determine the steering request state of the vehicle at a current moment based on the first data, wherein the steering request state is used to characterize that an abnormality occurs in the steering request information of the vehicle; a fifth determination module, used to determine that the target positioning state is a positioning drift state in response to the initial positioning state being a suspected drift state and the steering request state being an abnormal state.

[0134] Optionally, the fourth determination module may include: a second determination submodule, used to determine third data based on the first data and a reference driving path of the vehicle, wherein the third data is used to characterize the expected steering angular velocity of the vehicle at the current moment; and a third determination submodule, used to determine that the steering request state is an abnormal state in response to the third data being greater than or equal to an expected steering angular velocity threshold.

[0135] Optionally, the third determining subunit 304 may further include: a processing module, configured to adjust the current driving state of the vehicle based on the driving strategy data, and send a prompt message, wherein the prompt message is used to prompt that the positioning information has drifted.

[0136] In an embodiment of the present invention, the first data of the vehicle at the current moment is acquired through the acquisition unit; the second data of the vehicle at the future moment is determined based on the first data through the first determination unit; the target positioning state of the vehicle at the current moment is determined based on the first data and the second data through the second determination unit; and the driving strategy data of the vehicle is determined based on the target positioning state through the third determination unit, thereby achieving the technical effect of accurately judging the presence of positioning drift in the vehicle, and solving the technical problem of being unable to accurately judge the presence of positioning drift in the vehicle.

[0137] Example 4

[0138] According to an embodiment of the present invention, a computer-readable storage medium is further provided. The storage medium includes a stored program, wherein the program executes the vehicle information processing method described in Example 1.

[0139] Example 5

[0140] According to an embodiment of the present invention, a processor is further provided, which is used to run a program, wherein the vehicle information processing method described in Example 1 is executed when the program is run.

[0141] Example 6

[0142] According to an embodiment of the present invention, a vehicle is further provided. The vehicle is used to execute the vehicle information processing method according to the embodiment of the present invention.

[0143] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0144] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0146] 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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0147] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0148] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or 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, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0149] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for processing vehicle information, characterized in that: include: Acquire first data of the vehicle at the current moment, wherein the first data includes driving data of the vehicle at the current moment and position data of the vehicle at the current moment; Determining second data of the vehicle at a future time based on the first data, wherein the future time is a time after the current time, and the second data includes driving data of the vehicle at the future time and position data of the vehicle at the future time; Determining a target positioning state of the vehicle at the current moment based on the first data and the second data, wherein the target positioning state is used to indicate that the positioning information of the vehicle has drifted; Determining driving strategy data of the vehicle based on the target positioning state, wherein the driving strategy data is used to characterize the driving strategy of the vehicle; Determining a target positioning state of the vehicle at the current moment based on the first data and the second data includes: determining deviation data between the first data and the second data, wherein the deviation data includes position deviation data, position deviation absolute distance data, and yaw angular velocity deviation data; In response to the position deviation data being greater than or equal to the position deviation threshold data, or the position deviation absolute distance data being greater than or equal to the position deviation threshold data, determining that the position state of the vehicle at the current moment is a position drift state; In response to the yaw rate deviation data being greater than or equal to a yaw rate deviation threshold data, or the estimated yaw rate data in the second data being greater than or equal to the yaw rate deviation threshold data, determining that the heading state of the vehicle at the current moment is a heading drift state; In response to the position state being a position drift state and / or the heading state being a heading drift state, determining that the initial positioning state of the vehicle at the current position is a suspected drift state; In response to the initial positioning state being a suspected drift state and the steering request state of the vehicle at the current moment being an abnormal state, the target positioning state is determined to be a positioning drift state, wherein the steering request state is determined based on the first data.

2. The method according to claim 1, characterized in that The initial positioning state is used to indicate that the positioning information of the vehicle has a suspected drift phenomenon.

3. The method according to claim 1, characterized in that The position state is used to indicate that the position information of the vehicle has drifted; the heading state is used to indicate that the heading information of the vehicle has drifted.

4. The method according to claim 1, wherein The method further comprises: Based on the first data, a steering request state of the vehicle at the current moment is determined, wherein the steering request state is used to indicate that steering request information of the vehicle is abnormal.

5. The method according to claim 4, characterized in that Determining a steering request state of the vehicle at the current moment based on the first data includes: determining third data based on the first data and a reference driving path of the vehicle, wherein the third data is used to represent an expected steering angular velocity of the vehicle at the current moment; In response to the third data being greater than or equal to a desired steering angular velocity threshold, it is determined that the steering request state is an abnormal state.

6. The method according to claim 1, characterized in that After determining the driving strategy data of the vehicle based on the target positioning state, the method further includes: Based on the driving strategy data, the current driving state of the vehicle is adjusted, and a prompt message is sent, wherein the prompt message is used to prompt that the positioning information has the drift phenomenon.

7. A vehicle information processing device, characterized in that: include: an acquiring unit, configured to acquire first data of the vehicle at a current moment, wherein the first data includes driving data of the vehicle at the current moment and position data of the vehicle at the current moment; a first determining unit, configured to determine, based on the first data, second data of the vehicle at a future time, wherein the future time is a time after the current time, and the second data includes travel data of the vehicle at the future time and position data of the vehicle at the future time; a second determining unit, configured to determine a target positioning state of the vehicle at the current moment based on the first data and the second data, wherein the target positioning state is used to indicate that the positioning information of the vehicle has drifted; a third determining unit, configured to determine driving strategy data of the vehicle based on the target positioning state, wherein the driving strategy data is used to characterize the driving strategy of the vehicle; The second determining unit is further configured to determine the target positioning state of the vehicle at the current moment based on the first data and the second data by the following steps: determining deviation data between the first data and the second data, wherein the deviation data includes position deviation data, position deviation absolute distance data, and yaw angular velocity deviation data; In response to the position deviation data being greater than or equal to the position deviation threshold data, or the position deviation absolute distance data being greater than or equal to the position deviation threshold data, determining that the position state of the vehicle at the current moment is a position drift state; In response to the yaw rate deviation data being greater than or equal to a yaw rate deviation threshold data, or the estimated yaw rate data in the second data being greater than or equal to the yaw rate deviation threshold data, determining that the heading state of the vehicle at the current moment is a heading drift state; In response to the position state being a position drift state and / or the heading state being a heading drift state, determining that the initial positioning state of the vehicle at the current position is a suspected drift state; In response to the initial positioning state being a suspected drift state and the steering request state of the vehicle at the current moment being an abnormal state, the target positioning state is determined to be a positioning drift state, wherein the steering request state is determined based on the first data.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A vehicle, characterized in that: The vehicle is used to execute the vehicle information processing method described in any one of claims 1 to 6.

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