A method, apparatus, device and medium for route prediction

Abstract

A kind of navigation prediction method, device, equipment and medium are disclosed.The method comprises: determining the initial phase difference of current vehicle;Based on the initial phase difference, the first left rear wheel pulse number or the first right rear wheel pulse number at current time is corrected;Based on the first left rear wheel pulse number and the first right rear wheel pulse number after correction, the navigation information of the current vehicle at the current time is predicted.The above technical solution, by initial phase difference, the left rear wheel pulse number and the right rear wheel pulse number are corrected, based on the left rear wheel pulse number and the right rear wheel pulse number after correction, the scheme for predicting the navigation information at current time, compared with prior art, can improve navigation prediction accuracy.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a dead reckoning method, apparatus, equipment and medium. Background Technology

[0002] Dead-reckoning (DR) is the process of calculating an object's current position based on its known position at the previous moment, its current heading and speed, and so on. With the increasing prevalence of in-vehicle navigation systems and the growing standardization of anti-lock braking systems (ABS) in many vehicles, using ABS wheel speed sensors as dead-reckoning sensors can make full use of resources and reduce the production cost of in-vehicle navigation systems.

[0003] The main processing method currently used is the differential odometry algorithm, which can take pulse data from the front and rear four wheels as input. However, this method has a certain angle error in calculating DR, which will affect the accuracy of the entire driving trajectory. Summary of the Invention

[0004] This invention provides a dead reckoning method, apparatus, equipment, and medium to improve dead reckoning accuracy.

[0005] According to one aspect of the present invention, a dead reckoning prediction method is provided, comprising:

[0006] Determine the initial phase difference of the current vehicle;

[0007] The pulse count of the first left rear wheel or the pulse count of the first right rear wheel at the current moment is corrected based on the initial phase difference.

[0008] The dead reckoning information of the current vehicle at the current moment is predicted based on the corrected pulse counts of the first left rear wheel and the first right rear wheel.

[0009] According to another aspect of the present invention, a dead reckoning prediction device is provided, comprising:

[0010] The initial phase difference determination module is used to determine the initial phase difference of the current vehicle.

[0011] The correction module is used to correct the number of pulses of the first left rear wheel or the number of pulses of the first right rear wheel at the current moment based on the initial phase difference;

[0012] The prediction module is used to predict the dead center information of the current vehicle at the current moment based on the corrected first left rear wheel pulse count and the first right rear wheel pulse count.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the dead reckoning method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the dead reckoning method according to any embodiment of the present invention.

[0018] The technical solution of this invention involves determining the initial phase difference of the current vehicle; correcting the pulse count of the first left rear wheel or the pulse count of the first right rear wheel at the current moment based on the initial phase difference; and predicting the dead reckoning information of the current vehicle at the current moment based on the corrected pulse counts of the first left rear wheel and the first right rear wheel. Compared with existing technologies, this technical solution, which corrects the pulse counts of the left and right rear wheels based on the initial phase difference and predicts the dead reckoning information at the current moment, can improve the accuracy of dead reckoning prediction.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram illustrating the principle of differential odometry algorithms in existing technologies;

[0022] Figure 2 A flowchart of a dead reckoning prediction method provided in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram illustrating the implementation of the dead reckoning method provided in an embodiment of the present invention;

[0024] Figure 4This is a schematic diagram of the structure of a dead reckoning device provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the dead reckoning method of this invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] For ease of understanding, the following are given: Figure 1 The diagram shows the principle of the differential odometer algorithm. Taking the pulse input data of the last two wheels (non-drive wheels) as an example... Figure 1 As shown, after time k-1, the number of pulses output by the left and right wheels of the car are LR respectively. k-1 ,RR k-1 The output at time k is LR k ,RR k The distance traveled by the left rear wheel is Δ LR The distance traveled by the right rear wheel is Δ RR The trajectory of the car during this period is represented by the trajectory of the midpoint of the rear axle. The figure shows the trajectory from M... k-1 Drive to M k The trajectory of the vehicle during this short period can be considered as an arc with center O and radius R. Therefore, the estimation formulas for the vehicle's travel distance Δ and the change in azimuth angle ω are as follows:

[0029]

[0030]

[0031] Among them W R This refers to the rear axle length.

[0032] Figure 2 This is a flowchart illustrating a dead reckoning prediction method provided in an embodiment of the present invention. This embodiment is applicable to dead reckoning scenarios. The method can be executed by a dead reckoning prediction device, which can be implemented in hardware and / or software and can be configured in a server. Figure 2 As shown, the method includes:

[0033] S110. Determine the initial phase difference of the current vehicle.

[0034] It should be noted that when the car is moving, the gears on the wheels trigger sensors to count pulses, thus outputting a corresponding number of pulses. The pulse count is an accumulated integer value. Because there is a certain distance between the two gears, when the car starts moving from a standstill, the left and right rear wheels may be positioned between the two gears. For example, when the first gear passes the sensor, the count is 1, but before the second gear passes the sensor, the sensor's count or pulse count is also 1. Therefore, the initial phase can be understood as the situation where the left and right rear wheels may be positioned between the two gears when the car starts moving from a standstill. The initial phase difference can be understood as the difference in the pulse counts of the left and right rear wheels when the vehicle is stationary, or the average of the pulse count differences of the left and right rear wheels over multiple frames.

[0035] For example, suppose the car is stationary and the wheel speed pulse values ​​of the left and right rear wheels are L0 and R0, respectively, where 0 ≤ L0 < 1 and 0 ≤ R0 < 1, within one pulse. When the car starts moving straight, the travel paths of the left and right wheels are the same, both denoted as LR. i Because of the truncation, which can be understood as a value between 0 and 1, the output is 0. Therefore, the wheel speed pulse output value is L. i ,R i Let i represent different times. Assume the truncation error for each time is δL. i ,δR i Similarly, within a single pulse, i.e., 0 ≤ δL i <1,0≤δR i <1.

[0036] The specific formula is as follows: L0 + LR i =L i +δL i ;

[0037] R0+LR i =R i +δR i ;

[0038] L0-R0=(L i -R i )+(δL i -δR i )

[0039]

[0040] After verification, the pulse counts of multiple frames are accumulated, If the value is close to 0, then L is output through two rounds of pulses from the left rear and right rear of multiple frames. i ,R i It can be done through formula The initial phase difference is obtained, which can then be used to calculate DR.

[0041] Optionally, in practical applications, the method for determining the initial phase difference of the current vehicle can be: controlling the current vehicle to travel from a standstill to starting and moving in a straight line for a set time; obtaining the number of pulses of the left and right rear wheels corresponding to multiple frames within the set time; calculating the difference in the number of pulses of the left and right wheels in each frame; and averaging the difference in the number of pulses of the left and right wheels in multiple frames to obtain the initial phase difference of the current vehicle.

[0042] In this embodiment, the set duration is not limited; for example, it can be 3 to 4 seconds. Similarly, this embodiment does not limit the specific value of multiple frames; for example, it can be 80 to 100 frames. Specifically, to control the current vehicle to travel in a straight line as much as possible from a standstill to startup, the pulse counts of the left and right rear wheels of the current vehicle in a straight-line state can be obtained based on the initial driving angle and a set threshold. Furthermore, the pulse counts of the left and right rear wheels in multiple frames within the set duration can be obtained. Thus, the difference in the pulse counts of the left and right rear wheels in each frame can be calculated first, and then the average of the differences in the pulse counts of the left and right rear wheels in multiple frames can be obtained to obtain the initial phase difference. For example, the initial driving angle is denoted as θ, and the set threshold is denoted as θ₀. threshold . θ threshold =Δt / W R Where i can represent different times or different frames, Δt represents the time difference between two frames, and Δ LR : Indicates the difference in pulses between the front and rear of the left rear wheel, Δ RR : This represents the difference between the two pulses of the right rear wheel, where ω can be represented as the change in the driving azimuth angle or understood as angular velocity. When |θ i |<2*θ threshold This can be considered as the vehicle traveling in a straight line.

[0043] It should be noted that, due to θ i =θ i-1+ω·Δt, so the angle change between the two frames is ω·Δt. If the vehicle is traveling straight, the angle does not change, then Δ LR =Δ RR If ω = 0, and the vehicle is not traveling in a straight line, then Δ LR -Δ RR If the minimum value is 1, then ω = 1 / W R The change in angle is then Δt / W R Therefore, the threshold is set to θ. threshold =Δt / W R Due to Δ LR -Δ RR For integer values, in order to represent |θ i |<=θ threshold , can |θ i |<2*θ threshold This means that when the vehicle is traveling straight, the number of pulses from the left and right rear wheels can be used to calculate the initial phase difference.

[0044] For example, the initial phase difference can be expressed as ΔLR0, and can be calculated using the following formula.

[0045]

[0046] S120. Correct the number of pulses of the first left rear wheel or the number of pulses of the first right rear wheel at the current moment based on the initial phase difference.

[0047] In this embodiment, the initial phase difference can be determined. If it is valid, the pulse count of the first left rear wheel or the pulse count of the first right rear wheel at the current moment can be corrected based on the initial phase difference, thereby reducing the angle error.

[0048] Optionally, the method for correcting the number of pulses of the first left rear wheel or the first right rear wheel at the current moment based on the initial phase difference can be as follows: obtain the number of pulses of the second left rear wheel and the second right rear wheel at the previous moment; determine the difference between the number of pulses of the first left rear wheel and the second left rear wheel, and define it as the left rear wheel pulse difference; determine the difference between the number of pulses of the first right rear wheel and the second right rear wheel, and define it as the right rear wheel pulse difference; if the initial phase difference falls within a first set interval, then correct the number of pulses of the first left rear wheel according to the right rear wheel pulse difference; if the initial phase difference falls within a second set interval, then correct the number of pulses of the first right rear wheel according to the left rear wheel pulse difference.

[0049] The first set interval can be represented as (0,1), and the second set interval can be represented as (-1,0). In this embodiment, the validity of the initial phase difference can be determined. If the initial phase difference is within the first set interval or the second set interval, it can be considered valid. Specifically, if the initial phase difference falls into the first set interval, it indicates that the pulse count of the first left rear wheel at the current moment needs to be corrected, and the pulse count of the first left rear wheel can be corrected based on the pulse difference of the right rear wheel. If the initial phase difference falls into the second set interval, it indicates that the pulse count of the first right rear wheel at the current moment needs to be corrected, and the pulse count of the first right rear wheel can be corrected based on the pulse difference of the left rear wheel.

[0050] Optionally, the method for correcting the pulse count of the first left rear wheel based on the pulse difference of the right rear wheel can be: determine whether the current vehicle is going straight; if it is going straight, then add the pulse count of the second left rear wheel to the pulse difference of the right rear wheel to obtain the corrected pulse count of the first left rear wheel.

[0051] Specifically, the vehicle's direction of travel can be determined based on the driving angle. If the vehicle is traveling straight, the corrected first left rear wheel pulse count can be expressed as the sum of the second left rear wheel pulse count and the right rear wheel pulse count. For example, L i =L i-1 +Δ RR Δ RR : Represents the pulse difference between the first and second pulse counts of the right rear wheel, which can be understood as the difference between the pulse count of the first right rear wheel and the pulse count of the second right rear wheel. L i L represents the pulse count of the first left rear wheel. i-1 This is represented as the second left rear wheel pulse count. Of course, if the vehicle is not traveling straight, the first left rear wheel pulse count can be directly obtained, or the first left rear wheel pulse count can be represented as the sum of the second left rear wheel pulse count and the difference between the two left rear wheel pulse counts. For example, L i =L i-1 +Δ LR Δ LR : This represents the difference between the two pulses of the left rear wheel, which can be understood as the difference between the number of pulses of the first left rear wheel and the number of pulses of the second left rear wheel.

[0052] Optionally, the method for correcting the pulse count of the first right rear wheel based on the pulse difference of the left rear wheel can be: determine whether the current vehicle is going straight; if it is going straight, then add the pulse count of the second right rear wheel to the pulse difference of the left rear wheel to obtain the corrected pulse count of the first right rear wheel.

[0053] Specifically, the vehicle's direction of travel can be determined based on the driving angle. If the vehicle is traveling straight, the corrected first right rear wheel pulse count can be expressed as the sum of the second right rear wheel pulse count and the left rear wheel pulse difference. For example, R i =R i-1 +ΔLR Δ LR : Represents the pulse difference between the first and second pulse counts of the left rear wheel, which can be understood as the difference between the pulse count of the first left rear wheel and the pulse count of the second left rear wheel. R i Represented as the pulse count of the first right rear wheel, R i-1 This is represented as the second right rear wheel pulse count. Of course, if the vehicle is not traveling straight, the first right rear wheel pulse count can be directly obtained, or the first right rear wheel pulse count can be represented as the sum of the second right rear wheel pulse count and the difference between the two right rear wheel pulse counts. For example, R... i =R i-1 +Δ RR Δ RR : This represents the pulse difference between the first and second pulse counts of the right rear wheel, which can be understood as the difference between the pulse count of the first right rear wheel and the pulse count of the second right rear wheel.

[0054] Optionally, the method for determining whether the current vehicle is traveling straight can be: determining the current driving angle based on the pulse difference between the left and right rear wheels; and determining whether the current vehicle is traveling straight based on the driving angle.

[0055] In this embodiment, the current driving angle can be determined using a method based on the initial driving angle and a set threshold to determine whether the vehicle is traveling straight. That is, if |driving angle| < 2 * set threshold, it indicates that the vehicle is traveling straight. Further details are omitted.

[0056] S130. Predict the current vehicle's dead reckoning information at the current moment based on the corrected pulse counts of the first left rear wheel and the first right rear wheel.

[0057] The dead reckoning information includes the driving angle and position coordinates. In this embodiment, the dead reckoning information of the current vehicle at the current moment can be predicted based on the corrected pulse counts of the first left rear wheel and the first right rear wheel. This allows for real-time calculation of the initial phase difference and real-time updating of the dead reckoning information during vehicle movement, which not only improves the accuracy of dead reckoning prediction but also has strong practicality.

[0058] Optionally, the method for predicting the dead center information of the current vehicle at the current moment based on the corrected first left rear wheel pulse count and first right rear wheel pulse count can be as follows: determine the driving distance and azimuth change based on the corrected first left rear wheel pulse count and first right rear wheel pulse count; determine the corrected driving angle at the current moment based on the azimuth change and the driving angle at the previous moment; and determine the position coordinates at the current moment based on the driving distance, azimuth change, driving angle at the previous moment, and position coordinates at the previous moment.

[0059] Specifically, when the vehicle is moving forward, the pulse difference between the left and right rear wheels can be recalculated based on the corrected pulse counts of the first left and right rear wheels. This allows for calculation of the travel distance and azimuth angle change using formulas. The product (angle change) can be calculated using the azimuth angle change and the time increment between two frames. The sum of the previous travel angle and the angle change is then used as the corrected travel angle for the current moment. The current position coordinates can be determined based on the travel distance, azimuth angle change, previous travel angle, and previous position coordinates. For example,... Figure 3 As shown, the corrected pulse count L of the first left rear wheel can be used as a starting point. i And the number of pulses R of the first right rear wheel i Recalculate Δ LR Δ RR Then travel distance according to the formula And formula azimuth change Calculate the travel distance Δ and the change in azimuth angle ω. The corrected travel angle at the current moment. The current position coordinates can be x i and y i Indicates, specifically

[0060] For example, the initial phase difference can be calculated according to the following steps to correct the pulse count of the left and right rear wheels based on the initial phase difference.

[0061] Step 1: Determine whether the vehicle is traveling straight based on the initial driving angle.

[0062] The following formula can be used to determine this: θ threshold =Δt / W R ; θ i θ represents the initial driving angle at the current moment. threshold This indicates setting a threshold; if |θ i |<2*θ threshold This indicates that the vehicle is currently traveling straight.

[0063] Step 2: Obtain the number of pulses for the left rear wheel and the right rear wheel that meet the conditions of Step 1 above, based on the set duration or set frame.

[0064] The duration can be set to 3-4 seconds, and the corresponding frame rate can be 80-100 frames.

[0065] Step 3: According to the initial phase difference formula Calculate the initial phase difference ΔLR0.

[0066] Step 4: Determine if ΔLR0 is valid. If -1 < ΔLR0 < 1, then ΔLR0 is considered valid.

[0067] Step 5: If ΔLR0>0, correct the pulse count of the first left rear wheel; if ΔLR0<0, correct the pulse count of the first right rear wheel.

[0068] If ΔLR0 > 0, determine whether the vehicle is traveling straight. If it is, sum the pulse count of the second left rear wheel and the pulse count of the right rear wheel to obtain the corrected pulse count of the first left rear wheel. If the vehicle is not traveling straight, the pulse count of the first left rear wheel can be obtained directly, or the pulse count of the first left rear wheel can be expressed as the sum of the pulse count of the second left rear wheel and the pulse count of the left rear wheel.

[0069] If ΔLR0 < 0, determine whether the vehicle is traveling straight. If it is, sum the difference between the second right rear wheel pulse count and the left rear wheel pulse count to obtain the corrected first right rear wheel pulse count. If the vehicle is not traveling straight, the first right rear wheel pulse count can be obtained directly, or the first right rear wheel pulse count can be represented as the sum of the second right rear wheel pulse count and the difference between the right rear wheel pulse counts.

[0070] For example, dead reckoning can be achieved through the following steps:

[0071] Step 1: Start the vehicle.

[0072] Step 2: Obtain the pulse counts for the left and right rear wheels.

[0073] Step 3: Update the current dead reckoning information without relying on the initial phase difference method.

[0074] Step 4: Obtain the pulse count of the left and right rear wheels when the vehicle is traveling straight, and obtain the pulse count of the left and right rear wheels for a set frame or a set duration.

[0075] Step 5: Calculate the initial phase difference.

[0076] Step 6: Determine if the initial phase difference is valid. Based on the valid initial phase difference, update the dead reckoning information at the current moment.

[0077] The technical solution of this invention determines the initial phase difference of the current vehicle; corrects the pulse count of the first left rear wheel or the pulse count of the first right rear wheel at the current moment based on the initial phase difference; and predicts the dead reckoning information of the current vehicle at the current moment based on the corrected pulse counts of the first left rear wheel and the first right rear wheel. Compared with existing technologies, this technical solution, which corrects the pulse counts of the left and right rear wheels based on the initial phase difference and predicts the dead reckoning information at the current moment, can improve the accuracy of dead reckoning prediction. Furthermore, the technical solution provided by this invention does not rely on other reference sensors and can still provide reliable dead reckoning information even when other positioning sensors are interfered with, demonstrating strong practicality and ensuring the accuracy and applicability of subsequent multi-sensor positioning algorithms.

[0078] Figure 4 This is a schematic diagram of a dead reckoning device provided in an embodiment of the present invention. Figure 4 As shown, the device includes: an initial phase difference determination module 401, a correction module 402, and a prediction module 403.

[0079] The initial phase difference determination module is used to determine the initial phase difference of the current vehicle.

[0080] The correction module is used to correct the number of pulses of the first left rear wheel or the number of pulses of the first right rear wheel at the current moment based on the initial phase difference;

[0081] The prediction module is used to predict the dead center information of the current vehicle at the current moment based on the corrected first left rear wheel pulse count and the first right rear wheel pulse count.

[0082] The technical solution of this invention involves determining the initial phase difference of the current vehicle through an initial phase difference determination module; correcting the pulse count of the first left rear wheel or the pulse count of the first right rear wheel at the current moment based on the initial phase difference through a correction module; and predicting the dead reckoning information of the current vehicle at the current moment through a prediction module based on the corrected pulse counts of the first left rear wheel and the first right rear wheel. Compared with existing technologies, this technical solution, which corrects the pulse counts of the left and right rear wheels based on the initial phase difference and predicts the dead reckoning information at the current moment, can improve the accuracy of dead reckoning prediction.

[0083] Optionally, the initial phase difference determination module is specifically used for: controlling the current vehicle to travel from a standstill to starting and moving in a straight line for a set time; obtaining the number of pulses of the left rear wheel and the number of pulses of the right rear wheel corresponding to multiple frames within the set time; calculating the difference between the number of pulses of the left rear wheel and the right rear wheel in each frame; and averaging the difference between the number of pulses of the left rear wheel and the right rear wheel in multiple frames to obtain the initial phase difference of the current vehicle.

[0084] Optionally, the correction module is specifically used for: obtaining the second left rear wheel pulse count and the second right rear wheel pulse count at the previous moment; determining the difference between the first left rear wheel pulse count and the second left rear wheel pulse count, and defining it as the left rear wheel pulse difference; determining the difference between the first right rear wheel pulse count and the second right rear wheel pulse count, and defining it as the right rear wheel pulse difference; if the initial phase difference falls into a first set interval, then the first left rear wheel pulse count is corrected according to the right rear wheel pulse difference; if the initial phase difference falls into a second set interval, then the first right rear wheel pulse count is corrected according to the left rear wheel pulse difference.

[0085] Optionally, the correction module is also used to: determine whether the current vehicle is traveling straight; if it is traveling straight, then accumulate the difference between the second left rear wheel pulse count and the right rear wheel pulse count to obtain the corrected first left rear wheel pulse count.

[0086] Optionally, the correction module is further configured to: determine whether the current vehicle is traveling straight; if it is traveling straight, then accumulate the difference between the second right rear wheel pulse count and the left rear wheel pulse count to obtain the corrected first right rear wheel pulse count.

[0087] Optionally, the correction module is also used to: determine the current driving angle based on the pulse difference between the left rear wheel and the pulse difference between the right rear wheel; and determine whether the current vehicle is traveling straight based on the driving angle.

[0088] Optionally, the dead reckoning information includes the driving angle and position coordinates; optionally, the prediction module is specifically used to: determine the driving distance and azimuth change based on the corrected first left rear wheel pulse count and the first right rear wheel pulse count; determine the corrected driving angle at the current moment based on the azimuth change and the driving angle at the previous moment; and determine the position coordinates at the current moment based on the driving distance, azimuth change, driving angle at the previous moment, and position coordinates at the previous moment.

[0089] The dead reckoning device provided in the embodiments of the present invention can execute the dead reckoning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0090] Figure 5A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0091] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0092] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0093] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as dead reckoning.

[0094] In some embodiments, method dead reckoning may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method dead reckoning described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform method dead reckoning by any other suitable means (e.g., by means of firmware).

[0095] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0096] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0097] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0098] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0099] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0100] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0101] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0102] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of voyage prediction, characterized by, include: Determine the initial phase difference of the current vehicle; The pulse count of the first left rear wheel or the pulse count of the first right rear wheel at the current moment is corrected based on the initial phase difference. The dead reckoning information of the current vehicle at the current moment is predicted based on the corrected pulse count of the first left rear wheel and the pulse count of the first right rear wheel. Determine the initial phase difference of the current vehicle, including: Control the current vehicle to travel from a standstill to start and move in a straight line for a set duration; Obtain the number of pulses in the left rear wheel and the number of pulses in the right rear wheel for each frame within a set time period when the vehicle is traveling straight; Calculate the difference in pulse count between the left and right rear wheels in each frame; The average value of the pulse number difference between the left and right rear wheels in multiple frames is used to obtain the initial phase difference of the current vehicle; wherein, the initial phase is the situation when the left and right rear wheels are in the middle of the two gears when the car starts to move from a standstill; The correction of the pulse count of the first left rear wheel or the pulse count of the first right rear wheel at the current moment based on the initial phase difference includes: Get the pulse count of the second left rear wheel and the pulse count of the second right rear wheel at the previous moment; The difference between the first left rear wheel pulse count and the second left rear wheel pulse count is determined and defined as the left rear wheel pulse difference. The difference between the first right rear wheel pulse count and the second right rear wheel pulse count is determined and defined as the right rear wheel pulse difference. If the initial phase difference falls within the first set range, the pulse count of the first left rear wheel is corrected according to the pulse difference of the right rear wheel; If the initial phase difference falls within the second set range, the pulse count of the first right rear wheel is corrected according to the pulse difference of the left rear wheel; Correcting the pulse count of the first left rear wheel based on the pulse difference of the right rear wheel includes: Determine whether the current vehicle is traveling straight. If it is, add the difference between the second left rear wheel pulse count and the right rear wheel pulse count to obtain the corrected first left rear wheel pulse count. Correcting the pulse count of the first right rear wheel based on the pulse difference of the left rear wheel includes: Determine whether the current vehicle is traveling straight. If it is, add the difference between the second right rear wheel pulse count and the left rear wheel pulse count to obtain the corrected first right rear wheel pulse count.

2. The method of claim 1, wherein, Determining whether the current vehicle is traveling straight includes: The driving angle at the current moment is determined based on the pulse difference between the left and right rear wheels. Determine whether the current vehicle is traveling straight based on the driving angle.

3. The method according to claim 1, characterized in that, The dead reckoning information includes the driving angle and position coordinates; the dead reckoning information of the current vehicle at the current moment is predicted based on the corrected first left rear wheel pulse count and the first right rear wheel pulse count, including: The driving distance and azimuth angle change are determined based on the corrected pulse counts of the first left rear wheel and the first right rear wheel. The corrected driving angle at the current moment is determined based on the change in azimuth angle and the driving angle at the previous moment. The current position coordinates are determined based on the travel distance, azimuth change, travel angle at the previous moment, and position coordinates at the previous moment.

4. A dead reckoning prediction device, characterized in that, include: The initial phase difference determination module is used to determine the initial phase difference of the current vehicle. The correction module is used to correct the number of pulses of the first left rear wheel or the number of pulses of the first right rear wheel at the current moment based on the initial phase difference; The prediction module is used to predict the dead reckoning information of the current vehicle at the current moment based on the corrected first left rear wheel pulse count and the first right rear wheel pulse count; The initial phase difference determination module is specifically used for: controlling the current vehicle to travel in a straight-line manner for a set time from a standstill to starting; obtaining the number of pulses of the left rear wheel and the right rear wheel for multiple frames within the set time period when the current vehicle is traveling in a straight-line state; calculating the difference between the number of pulses of the left rear wheel and the right rear wheel in each frame; and averaging the difference between the number of pulses of the left rear wheel and the right rear wheel in multiple frames to obtain the initial phase difference of the current vehicle; wherein, the initial phase is the situation when the left and right rear wheels are in the middle of the two gears when the car starts to move from a standstill; The correction module is specifically used to: obtain the second left rear wheel pulse count and the second right rear wheel pulse count at the previous moment; determine the difference between the first left rear wheel pulse count and the second left rear wheel pulse count, and determine it as the left rear wheel pulse difference; determine the difference between the first right rear wheel pulse count and the second right rear wheel pulse count, and determine it as the right rear wheel pulse difference; If the initial phase difference falls within the first set range, the pulse count of the first left rear wheel is corrected according to the pulse difference of the right rear wheel; if the initial phase difference falls within the second set range, the pulse count of the first right rear wheel is corrected according to the pulse difference of the left rear wheel. The correction module is also used to: determine whether the current vehicle is going straight; if it is going straight, then accumulate the difference between the second left rear wheel pulse count and the right rear wheel pulse count to obtain the corrected first left rear wheel pulse count. The correction module is also used to: determine whether the current vehicle is going straight; if it is going straight, then add the difference between the second right rear wheel pulse count and the left rear wheel pulse count to obtain the corrected first right rear wheel pulse count.

5. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a dead reckoning method according to any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute and implement a dead reckoning method according to any one of claims 1-3.

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