A vehicle height calculation method and device, electronic equipment and storage medium

Abstract

The application discloses a vehicle height calculation method and device, electronic equipment and a storage medium; the method comprises the following steps: receiving the position of the vehicle at the current time sent by the vehicle; based on the position of the vehicle at the current time, extracting the height point in the threshold range corresponding to the position of the vehicle at the current time in the target lane center line data constructed in advance; and calculating the height of the vehicle at the current time according to the height point in the threshold range. The embodiment of the application can solve the problem of unstable and inaccurate vehicle height data, make the vehicle height stable and accurate, and solve the safety hazard problem of the automatic driving vehicle in the complex traffic scene such as multi-layer overpass and up-and-down multi-layer traffic road, improve the accuracy of vehicle route planning, obstacle avoidance and collision algorithm, and provide protection for the safe driving of automatic driving.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automatic driving, in particular to a vehicle height calculation method and device, an electronic device and a storage medium. BACKGROUND

[0002] In the field of automatic driving, high-precision positioning is divided into outdoor and indoor parts. In the outdoor, the height data of the vehicle is usually obtained by real-time receiving satellite signals through the vehicle positioning device, and the longitude, latitude and height obtained initially are combined with the network RTK service of the ground-based enhanced base station to make a secondary correction to the original spatial position. In the indoor, the positioning technologies such as Bluetooth, WIFI, vision and UWB are used to achieve centimeter-level accuracy of the spatial position.

[0003] When the vehicle obtains, solves and corrects the spatial position in real time, the vehicle height value is not accurate at a specific position due to reasons such as road bumps, signal blockage, network instability and few deployment points, which causes the height to suddenly increase or decrease, be inaccurate and unstable, and thus causes a large error in calculating the vertical height of the moving target, resulting in the failure of the moving target collision algorithm and causing traffic accidents, which poses a safety hazard to traffic, especially in complex traffic scenarios such as multi-layer interchanges and multi-layer traffic roads, the accuracy of the vehicle height value is of the utmost importance. SUMMARY

[0004] The present application provides a vehicle height calculation method, device, electronic device and storage medium, which solves the problem of unstable and inaccurate height data of the vehicle itself, makes the vehicle height stable and accurate, and thus solves the safety hazard problem of the automatic driving vehicle in complex traffic scenarios such as multi-layer interchanges and multi-layer traffic roads, improves the accuracy of the vehicle route planning, obstacle avoidance and collision algorithm, and provides protection for the safe driving of the automatic driving vehicle.

[0005] In a first aspect, the embodiments of the present application provide a vehicle height calculation method, which comprises:

[0006] receiving the position of the vehicle at the current time sent by the vehicle;

[0007] extracting the height points within the threshold range corresponding to the position of the vehicle at the current time from the pre-constructed target lane center line data based on the position of the vehicle at the current time;

[0008] calculating the height of the vehicle at the current time according to the height points within the threshold range.

[0009] In a second aspect, the embodiments of the present application also provide a vehicle height calculation device, which comprises a receiving module, an extracting module and a calculating module, wherein,

[0010] The receiving module is configured to receive the position of the vehicle at the current time sent by the vehicle.

[0011] The extracting module is configured to extract, based on the position of the vehicle at the current time, the elevation points within a threshold range corresponding to the position of the vehicle at the current time from the target lane center line data constructed in advance.

[0012] The calculating module is configured to calculate the elevation of the vehicle at the current time according to the elevation points within the threshold range.

[0013] In a third aspect, an electronic device is provided, including:

[0014] one or more processors;

[0015] a memory configured to store one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle elevation calculation method described in any embodiment of the present application.

[0017] In a fourth aspect, a storage medium is provided, which stores a computer program, and the program is executed by a processor to implement the vehicle elevation calculation method described in any embodiment of the present application.

[0018] The embodiment of the present application provides a vehicle height calculation method, device, electronic equipment and storage medium. The vehicle height calculation method comprises the following steps: receiving a position of a vehicle at a current time; extracting an elevation point in a threshold range corresponding to the position of the vehicle at the current time from target lane center line data constructed in advance based on the position of the vehicle at the current time; and calculating the height of the vehicle at the current time according to the elevation point in the threshold range. That is, in the technical solution of the present application, the target lane center line data can be constructed in advance, and the elevation points in the target lane center line are dense, so that the height of the vehicle at the current time can be accurately calculated. In the prior art, when the vehicle acquires, calculates and corrects the spatial position in real time, the vehicle height value is not accurate at a specific position due to reasons such as road bumps, signal shielding, network instability, and few deployment points, so that the height suddenly increases or decreases, is not accurate, and is unstable. Therefore, compared with the prior art, the vehicle height calculation method, device, electronic equipment and storage medium provided by the embodiment of the present application solve the problem of unstable and inaccurate vehicle height data, make the vehicle height stable and accurate, thereby solving the safety hazard problem of the autonomous vehicle in the complex traffic scene such as the multi-layer overpass and the multi-layer passing road, improving the accuracy of the vehicle route planning, obstacle avoidance and collision algorithm, and providing protection for the safe driving of the autonomous vehicle. In addition, the technical solution of the embodiment of the present application is simple and convenient to popularize, and has a wider application range. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The first flowchart of the vehicle height calculation method provided by the embodiment of the present application is shown in the figure.

[0020] Figure 2 The second flowchart of the vehicle height calculation method provided by the embodiment of the present application is shown in the figure.

[0021] Figure 3 The third flowchart of the vehicle height calculation method provided by the embodiment of the present application is shown in the figure.

[0022] Figure 4 The structure diagram of the vehicle height calculation device provided by the embodiment of the present application is shown in the figure.

[0023] Figure 5 The structure diagram of the electronic equipment provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0024] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, in order to facilitate the description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0025] Embodiment one

[0026] Figure 1 A first flowchart of a vehicle height calculation method provided by the embodiments of the present application is shown in FIG. 1. The method can be executed by a vehicle height calculation device or an electronic device, which can be implemented by software and / or hardware, and can be integrated into any smart device with network communication function. As shown in FIG. 1, the vehicle height calculation method can include the following steps: Figure 1

[0027] S101, receiving a position of the vehicle at the current time sent by the vehicle.

[0028] In this step, the electronic device can receive the position of the vehicle at the current time sent by the vehicle. Specifically, the electronic device can receive the latitude and longitude data measured at the current time sent by the vehicle in real time.

[0029] S102, extracting an elevation point within a threshold range corresponding to the position of the vehicle at the current time from the pre-constructed target lane center line data based on the position of the vehicle at the current time.

[0030] In this step, the electronic device can extract an elevation point within a threshold range corresponding to the position of the vehicle at the current time from the pre-constructed target lane center line data based on the position of the vehicle at the current time. Specifically, the threshold range corresponding to the position of the vehicle at the current time can be a circular region with the position of the vehicle at the current time as the center and a predetermined length as the radius. In the embodiments of the present application, the interval between two adjacent elevation points in the target lane center line data can be 0.5 meters.

[0031] S103, calculating the height of the vehicle at the current time according to the elevation points within the threshold range.

[0032] In this step, the electronic device can calculate the height of the vehicle at the current time according to the elevation points within the threshold range. Specifically, the electronic device can calculate the average elevation value of the elevation points within the threshold range; and take the average elevation value as the height of the vehicle at the current time.

[0033] ​The vehicle height calculation method provided in the embodiments of the present application first receives the position of the vehicle at the current time sent by the vehicle; then extracts the height points within the threshold range corresponding to the position of the vehicle at the current time in the pre-constructed target lane center line data based on the position of the vehicle at the current time; and then calculates the height of the vehicle at the current time according to the height points within the threshold range. That is, in the technical solution of the present application, the target lane center line data can be pre-constructed, and the height points in the target lane center line are dense, so the height of the vehicle at the current time can be accurately calculated. In the prior art, when the vehicle real-time acquires, solves and corrects the spatial position, due to reasons such as road bumps, signal shielding, network instability, few deployment points, etc., the vehicle height value is not accurate at a certain position, which causes the height to suddenly increase or decrease, be inaccurate, and the value to be unstable. Therefore, compared with the prior art, the vehicle height calculation method provided in the embodiments of the present application solves the problem of unstable and inaccurate vehicle height data, makes the vehicle height stable and accurate, thereby solving the safety hazard problem of the autonomous vehicle in the complex traffic scene such as multi-layer overpass and multi-layer passing road, improving the accuracy of vehicle route planning, obstacle avoidance and collision algorithm, and providing protection for the safe driving of autonomous driving; and the technical solution of the embodiments of the present application is simple and convenient to popularize, and has a wider application range.

[0034] Embodiment two

[0035] Figure 2 The second flowchart of the vehicle height calculation method provided in the embodiments of the present application is shown. Based on the above technical solution, further optimization and expansion can be performed, and the above various optional embodiments can be combined. As shown in Figure 2 The vehicle height calculation method can include the following steps:

[0036] S201, extract the original lane center line data in the pre-made high-precision map.

[0037] In this step, the electronic device can extract the original lane center line data in the pre-made high-precision map. Specifically, the electronic device can first compile the high-precision map into vector shp data, and then extract the original lane center line data in the vector shp data. The lane center line can be a line composed of discrete points on a plurality of lane center lines collected in the data collection process of the high-precision map, and these discrete points can have longitude, latitude and height information, so they can be called height points.

[0038] S202, extracting inflection point data in the original lane center line data according to a first predetermined interval, and generating sampling point data in the original lane center line data according to a second predetermined interval; wherein the first predetermined interval is greater than the second predetermined interval; the inflection point data comprises longitude, latitude and elevation; and the sampling point data comprises longitude and latitude.

[0039] In this step, the electronic device can extract inflection point data in the original lane center line data according to a first predetermined interval, and generate sampling point data in the lane center line data according to a second predetermined interval; wherein the first predetermined interval is greater than the second predetermined interval; the inflection point data comprises longitude, latitude and elevation; and the sampling point data comprises longitude and latitude. Specifically, the first predetermined interval in the embodiment of the application can be 3 meters; and the second predetermined interval can be 0.5 meters. That is, the electronic device can extract inflection point data in the original lane center line data every 3 meters, and generate sampling point data in the original lane center line data every 0.5 meters.

[0040] S203, merging the inflection point data and the sampling point data, and constructing target lane line data based on the merged data.

[0041] In this step, the electronic device can merge the inflection point data and the sampling point data, and construct target lane line data based on the merged data. Specifically, the electronic device can first extract a sampling point data in the merged data as a current sampling point data; then calculate the elevation of the current sampling point data according to the elevation of the inflection point data corresponding to the current sampling point data; repeat the above operation until the elevations of all sampling point data in the merged data are calculated; and construct the target lane line data according to the elevations of all sampling point data. The elevation of the sampling point can be obtained based on the longitude, latitude and elevation of the inflection point data and the longitude and latitude of the sampling point by interpolation method.

[0042] S204, receiving the position of the vehicle at the current time sent by the vehicle.

[0043] S205, based on the position of the vehicle at the current time, extracting an elevation point within a threshold range corresponding to the position of the vehicle at the current time in the pre-constructed target lane center line data.

[0044] S206, calculating the elevation of the vehicle at the current time according to the elevation point within the threshold range.

[0045] The vehicle height calculation method provided in the embodiments of the present application first receives the position of the vehicle at the current time sent by the vehicle; then extracts the height points within the threshold range corresponding to the position of the vehicle at the current time from the pre-constructed target lane center line data based on the position of the vehicle at the current time; and then calculates the height of the vehicle at the current time according to the height points within the threshold range. That is, in the technical solution of the present application, the target lane center line data can be pre-constructed, and the height points in the target lane center line are dense, so the height of the vehicle at the current time can be accurately calculated. In the prior art, when the vehicle real-time acquires, solves and corrects the spatial position, due to reasons such as road bumps, signal shielding, network instability, and few deployment points, the vehicle height value is not accurate at a specific position, resulting in problems such as sudden increase or decrease, inaccuracy, and unstable values. Therefore, compared with the prior art, the vehicle height calculation method provided in the embodiments of the present application solves the problem of unstable and inaccurate vehicle height data, makes the vehicle height stable and accurate, thereby solving the safety hazard problem of the autonomous vehicle in complex traffic scenarios such as multi-layer interchanges and multi-layer traffic roads, improving the accuracy of vehicle route planning, obstacle avoidance, and collision algorithm, and providing protection for the safe driving of autonomous driving; and the technical solution of the embodiments of the present application is simple and convenient to popularize, and has a wider application range.

[0046] Embodiment three

[0047] Figure 3 The third flowchart of the vehicle height calculation method provided in the embodiments of the present application is shown. Based on the above technical solution, further optimization and expansion can be performed, and the above-mentioned various optional embodiments can be combined. As shown in Figure 3 The vehicle height calculation method can include the following steps:

[0048] S301, extract the original lane center line data from the pre-made high-precision map.

[0049] In this step, the electronic device can extract the original lane center line data from the pre-made high-precision map. Specifically, the electronic device can first compile the high-precision map into vector shp data, and then extract the original lane center line data from the vector shp data.

[0050] S302, extract the height of all the turning point data from the lane center line data; remove the turning point data with abnormal height from all the turning point data, and perform smoothing processing on the height of the remaining turning point data to obtain the smoothed lane center line data.

[0051] In this step, the electronic device can extract the elevations of all the turning point data in the lane center line data, remove the turning point data with abnormal elevations from all the turning point data, and perform smoothing processing on the elevations of the remaining turning point data to obtain smoothed lane center line data. Specifically, the electronic device can remove the turning point data with an elevation greater than a pre-set maximum elevation and an elevation less than a pre-set minimum elevation from all the turning point data, and perform smoothing processing on the elevations of the remaining turning point data to obtain smoothed lane center line data.

[0052] S303, extract the turning point data in the smoothed lane center line data according to a first predetermined interval, and generate the sampling point data in the smoothed lane center line data according to a second predetermined interval.

[0053] In this step, the electronic device can perform smoothing processing on the elevations of the turning point data in the lane center line data to obtain smoothed lane center line data, extract the turning point data in the smoothed lane center line data according to a first predetermined interval, and generate the sampling point data in the smoothed lane center line data according to a second predetermined interval. Specifically, the electronic device can extract the turning point data in the original lane center line data every 3 meters, and generate the sampling point data in the original lane center line data every 0.5 meters.

[0054] S304, merge the turning point data and the sampling point data, and construct the target lane line data based on the merged data.

[0055] S305, receive the position of the vehicle at the current time sent by the vehicle.

[0056] S306, based on the position of the vehicle at the current time, extract the elevation point within the threshold range corresponding to the position of the vehicle at the current time in the pre-constructed target lane center line data.

[0057] S307, calculate the elevation of the vehicle at the current time according to the elevation point within the threshold range.

[0058] By using the technical solution provided in the present application, the vehicle end does not need to use the network RTK positioning service, so that the centimeter-level elevation positioning can be realized, the positioning calculation cost of the vehicle end is reduced, and the accuracy and stability of the vehicle elevation can be realized under the conditions of poor satellite network signal, road bumping, complex surrounding environment, etc.

[0059] The vehicle height calculation method provided in the embodiments of the present application first receives the position of the vehicle at the current time sent by the vehicle; then extracts the height points within the threshold range corresponding to the position of the vehicle at the current time from the pre-constructed target lane center line data based on the position of the vehicle at the current time; and then calculates the height of the vehicle at the current time according to the height points within the threshold range. That is, in the technical solution of the present application, the target lane center line data can be pre-constructed, and the height points in the target lane center line are dense, so the height of the vehicle at the current time can be accurately calculated. In the prior art, when the vehicle acquires, calculates and corrects the spatial position in real time, the vehicle height value is not accurate at a specific position due to reasons such as road bumps, signal blockage, network instability, and few deployment points, resulting in problems such as sudden increase or decrease, inaccuracy, and unstable values of the height. Therefore, compared with the prior art, the vehicle height calculation method provided in the embodiments of the present application solves the problem of unstable and inaccurate vehicle height data, makes the vehicle height stable and accurate, thereby solving the safety hazard problem of the autonomous vehicle in complex traffic scenarios such as multi-layer interchanges and multi-layer traffic roads, improving the accuracy of vehicle route planning, obstacle avoidance and collision algorithm, and providing protection for the safe driving of autonomous driving; and the technical solution of the embodiments of the present application is simple and convenient to popularize, and has a wider application range.

[0060] Embodiment four

[0061] Figure 4 The structure schematic diagram of the vehicle height calculation device provided in the embodiments of the present application is shown in FIG. 4. As shown in FIG. 4, the vehicle height calculation device comprises a receiving module 401, an extracting module 402 and a calculating module 403. Figure 4

[0062] The receiving module 401 is configured to receive the position of the vehicle at the current time sent by the vehicle.

[0063] The extracting module 402 is configured to extract the height points within the threshold range corresponding to the position of the vehicle at the current time from the pre-constructed target lane center line data based on the position of the vehicle at the current time.

[0064] The calculating module 403 is configured to calculate the height of the vehicle at the current time according to the height points within the threshold range.

[0065] The vehicle height calculation device described above can execute the method provided in any embodiment of the present application, has the corresponding function modules and beneficial effects of executing the method. Technical details not described in detail in the present embodiment can be referred to the vehicle height calculation method provided in any embodiment of the present application.

[0066] Embodiment five

[0067] ​Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present application is shown. Figure 5 The electronic device 12 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0068] like Figure 5 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0069] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0070] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0071] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 5 Not shown; usually referred to as a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0072] Program / utility 40 having a set of program modules 42 can be stored in memory 28 by way of example, such program modules 42 include an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, which may

[0073] Electronic device 12 can also communicate with one or more external devices 14 such as a keyboard or pointing device, a display 24, etc.; one or more devices that enable a user to interact with electronic device 12; and / or one or more devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 22. Still yet, electronic device 12 can communicate with one or more networks (such as one or more LANs, WANs, and / or the Internet through network adapter 20) via one or more Figure 5 Other hardware and / or software modules that can be used in conjunction with electronic device 12 can also include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc., as non-limiting examples.

[0074] Processing unit 16 executes the various functions and processes of embodiments of the present application by running programs stored in system memory 28.

[0075] Embodiment six

[0076] A computer storage medium is provided in embodiments of the present application.

[0077] The computer readable storage medium of the embodiments of the present application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, a magnetic, an optical, an electromagnetic, an infrared, or a semiconductor system, device or apparatus, or any combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device.

[0078] The computer readable signal medium can include a computer readable program code in a baseband or propagated as a carrier wave in a propagation medium. Such a propagated signal can take a wide variety of forms, including but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0079] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the above.

[0080] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In an embodiment of the application, the remote computer can be a server or another desktop computer.

[0081] It is to be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the application. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. It is further noted that characteristics relating to the different embodiments can be combined, and not just those within respective sections of the description.

Claims

1. A method for calculating vehicle elevation, characterized in that, The method includes: Receive the vehicle's current location sent by the vehicle; Based on the vehicle's current position, extract the elevation points within a threshold range corresponding to the vehicle's current position from the pre-constructed target lane centerline data; Calculate the vehicle's elevation at the current moment based on elevation points within the threshold range; Before the receiving vehicle sends the vehicle's current position, the method further includes: Extract the original lane centerline data from a pre-made high-precision map; Inflection point data are extracted from the original lane centerline data at a first predetermined interval, and sampling point data are generated from the original lane centerline data at a second predetermined interval; wherein the first predetermined interval is greater than the second predetermined interval; the inflection point data includes longitude, latitude, and elevation; the sampling point data includes longitude and latitude; The inflection point data and the sampling point data are merged, and the target lane centerline data is constructed based on the merged data.

2. The method according to claim 1, characterized in that, After extracting the lane centerline data of the current vehicle from a pre-made high-precision map, the method further includes: The elevation of the inflection point data in the lane centerline data is smoothed to obtain smoothed lane centerline data; inflection point data is extracted from the smoothed lane centerline data at a first predetermined interval, and sampling point data is generated from the smoothed lane centerline data at a second predetermined interval.

3. The method according to claim 2, characterized in that, Before smoothing the elevation of the inflection point data in the lane centerline data, the method further includes: Extract the elevation of all inflection points from the lane centerline data; remove inflection points with abnormal elevations from the elevation of all inflection points, and use the remaining inflection points as the inflection points in the lane centerline data.

4. The method according to claim 1, characterized in that, The target lane centerline data is constructed based on the merged data, including: Extract a sampling point from the merged data and use it as the current sampling point data; Calculate the elevation of the current sampling point data based on the elevation of the inflection point data corresponding to the current sampling point data; repeat the above operation until the elevation of each sampling point data in the merged data is calculated; and construct the target lane centerline data based on the elevation of each sampling point data.

5. The method according to claim 1, characterized in that, Calculating the vehicle's elevation at the current moment based on elevation points within the threshold range includes: Calculate the average elevation value of the elevation points within the threshold range; use the average elevation value as the elevation of the vehicle at the current time.

6. The method according to claim 5, characterized in that, Calculating the average elevation value of elevation points within the threshold range includes: Extract all elevation points within the threshold range, calculate the average elevation value of all elevation points, and use the average elevation value of all elevation points as the average elevation value of the elevation points within the threshold range; or, extract a predetermined number of elevation points within the threshold range, calculate the average elevation value of the predetermined number of elevation points, and use the average elevation value of the predetermined number of elevation points as the average elevation value of the elevation points within the threshold range.

7. A vehicle elevation calculation device, characterized in that, The device includes: a receiving module, an extraction module, and a calculation module; wherein... The receiving module is used to receive the vehicle's current position sent by the vehicle; The extraction module is used to extract elevation points within a threshold range corresponding to the current position of the vehicle from pre-constructed target lane centerline data, based on the vehicle's current position. The calculation module is used to calculate the elevation of the vehicle at the current moment based on the elevation points within the threshold range; It also includes a data building module for: Extract the original lane centerline data from a pre-made high-precision map; Inflection point data are extracted from the original lane centerline data at a first predetermined interval, and sampling point data are generated from the original lane centerline data at a second predetermined interval; wherein the first predetermined interval is greater than the second predetermined interval; the inflection point data includes longitude, latitude, and elevation; the sampling point data includes longitude and latitude; The inflection point data and the sampling point data are merged, and the target lane centerline data is constructed based on the merged data.

8. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle elevation calculation method as described in any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle elevation calculation method as described in any one of claims 1 to 6.

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