A trajectory determination method and apparatus, electronic device, and medium

Abstract

This disclosure provides a trajectory determination method, apparatus, electronic device, and medium, relating to the field of artificial intelligence, and particularly to the fields of autonomous driving and intelligent transportation. The specific implementation involves: taking multiple trajectory points generated by the vehicle during its journey, and selecting simplified path points from these points. The trajectory error between the line connecting adjacent simplified path points and the initial driving trajectory is less than or equal to an error threshold. The initial driving trajectory is the driving trajectory represented by the trajectory points between adjacent simplified path points. Then, the vehicle's driving trajectory is obtained based on each simplified path point. This reduces the computational load of trajectory analysis while ensuring accuracy.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence, and in particular to the fields of autonomous driving and intelligent transportation technologies. Background Technology

[0002] During vehicle operation, a series of trajectory points can be generated periodically. For example, the vehicle's current location can be collected every second to obtain a trajectory point. Each trajectory point can accurately reflect the vehicle's driving status and indirectly reflect the road and traffic environment in which the vehicle is located. Summary of the Invention

[0003] This disclosure provides a trajectory determination method, apparatus, electronic device, and medium.

[0004] A first aspect of this disclosure provides a trajectory determination method, comprising:

[0005] Acquire multiple trajectory points generated by the vehicle during its driving process;

[0006] A concise path point is selected from the plurality of trajectory points; wherein the trajectory error between the line connecting adjacent concise path points and the initial driving trajectory is less than or equal to an error threshold, and the initial driving trajectory is the driving trajectory represented by each trajectory point between adjacent concise path points.

[0007] The vehicle's trajectory is obtained based on each simplified waypoint.

[0008] A second aspect of this disclosure provides a trajectory determination apparatus, comprising:

[0009] The acquisition module is used to acquire multiple trajectory points generated by the vehicle during its driving process;

[0010] A filtering module is used to filter out simplified path points from the plurality of trajectory points obtained by the acquisition module; wherein the trajectory error between the line connecting adjacent simplified path points and the initial driving trajectory is less than or equal to an error threshold, and the initial driving trajectory is the driving trajectory represented by each trajectory point between adjacent simplified path points.

[0011] The determination module is used to obtain the vehicle's driving trajectory based on the simplified path points filtered by the filtering module.

[0012] A third aspect of this disclosure provides an electronic device, including:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the trajectory determination method described in any one of the first aspects.

[0016] A fourth aspect of this disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the trajectory determination method described in any one of the first aspects.

[0017] A fifth aspect of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the trajectory determination method described in any one of the first aspects.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0019] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0020] Figure 1 This is a flowchart of a trajectory determination method provided in an embodiment of this disclosure;

[0021] Figure 2 This is a first exemplary schematic diagram of trajectory points provided in the embodiments of this disclosure;

[0022] Figure 3 This is a flowchart of a method for filtering concise path points provided in an embodiment of this disclosure;

[0023] Figure 4 This is a second exemplary schematic diagram of trajectory points provided in the embodiments of this disclosure;

[0024] Figure 5 This is a flowchart of a method for determining trajectory error provided in an embodiment of this disclosure;

[0025] Figure 6 This is a third exemplary schematic diagram of trajectory points provided in the embodiments of this disclosure;

[0026] Figure 7 This is a fourth exemplary schematic diagram of trajectory points provided in the embodiments of this disclosure;

[0027] Figure 8 This is a fifth exemplary schematic diagram of trajectory points provided in the embodiments of this disclosure;

[0028] Figure 9This is a flowchart of a method for managing a buffer set provided in an embodiment of this disclosure;

[0029] Figure 10 This is a schematic diagram of the structure of a trajectory determination device provided in an embodiment of this disclosure;

[0030] Figure 11 This is a block diagram of an electronic device used to implement the trajectory determination method of the embodiments of this disclosure. Detailed Implementation

[0031] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0032] During operation, autonomous vehicles can perform trajectory analysis based on their own trajectory points. Furthermore, autonomous vehicles can periodically send their trajectory points to other vehicles or devices, allowing these other vehicles or devices to analyze the autonomous vehicle's trajectory based on the received trajectory points. This analysis can then be used as a basis for predicting road geometry and classifying the autonomous vehicle's location.

[0033] However, since the period of the vehicle trajectory points is 1 Hz, the amount of trajectory point data is huge, resulting in a large amount of computation for trajectory analysis.

[0034] To reduce the computational load of trajectory analysis, embodiments of this disclosure provide a trajectory determination method that can be applied to electronic devices in vehicles equipped with trajectory data processing capabilities. See also... Figure 1 The method includes the following steps:

[0035] S101. Obtain multiple trajectory points generated by the vehicle during its driving process.

[0036] In this embodiment of the disclosure, during vehicle operation, the vehicle's current location can be periodically collected to obtain multiple trajectory points. For example, the vehicle's current location can be collected every second to obtain one trajectory point.

[0037] S102. Select concise path points from multiple trajectory points.

[0038] In other words, the essence of a concise path point is a sampled subset of trajectory points.

[0039] Among them, the trajectory error between the line connecting adjacent simplified path points and the initial driving trajectory is less than or equal to the error threshold, and the initial driving trajectory is the driving trajectory represented by each trajectory point between adjacent simplified path points.

[0040] For example, such as Figure 2 As shown, the vehicle starts from the bottom point and moves to the rightmost point. Figure 2 Each hollow circle represents a trajectory point, and each solid circle represents a concise path point, for example... Figure 2 The diagram shows simplified path points 1 to 4. From... Figure 2 As can be seen, the lines connecting adjacent simplified path points have a high degree of similarity to the trajectories represented by the trajectory points between adjacent simplified path points. Therefore, using each simplified path point to replace all trajectory points will not significantly affect the accuracy of trajectory analysis.

[0041] See Figure 2 The line connecting simplified path point 2 and simplified path point 3 can be called the simplified data description. The trajectory error between the trajectory points between these two simplified path points and the simplified data description can be called the data description error. The data description error can be determined based on the distance between the trajectory points between the two simplified path points and the simplified data description.

[0042] S103. Obtain the vehicle's trajectory based on each simplified path point.

[0043] Optionally, the total distance traveled by the vehicle can be obtained by sequentially connecting adjacent simplified waypoints. And / or, the vehicle's trajectory can be plotted and displayed by sequentially connecting adjacent simplified waypoints on the map.

[0044] Alternatively, trajectory analysis can be performed on simplified path points in other ways, and this disclosure does not specifically limit the scope of the embodiments.

[0045] Because this embodiment filters out simplified path points from each trajectory point, the amount of trajectory point data is reduced, thus reducing the computational load of trajectory analysis. Furthermore, the trajectory error between the line connecting adjacent simplified path points and the initial driving trajectory is less than or equal to an error threshold. Therefore, the driving trajectory represented by the simplified path points has a smaller error compared to the driving trajectory represented by the original trajectory points, thus reducing the computational load of trajectory analysis while ensuring its accuracy.

[0046] Moreover, concise waypoints can represent the vehicle's trajectory, thus realistically reflecting the vehicle's driving status and indirectly demonstrating the road and traffic environment in which the vehicle is located.

[0047] The trajectory determination method provided in the embodiments of this disclosure will be described in detail below:

[0048] See Figure 3 The method for selecting concise path points from multiple trajectory points in S102 above includes the following steps:

[0049] S301. Take the starting point among multiple trajectory points as the target starting point, and take the second trajectory point after the target starting point as the target ending point.

[0050] Here, the target starting point can be denoted as P. starting Let the target endpoint be P. next .

[0051] The starting point in the trajectory can be used as a concise path point.

[0052] S302. Determine the trajectory error between the target chord and the initial driving trajectory. The target chord is the line connecting the target starting point and the target ending point.

[0053] See Figure 2 Assuming that simplified path point 2 is the target starting point and simplified path point 3 is the target ending point, the line connecting the target starting point and the target ending point, i.e. the target chord, is a straight line, while the initial driving trajectory between the target starting point and the target ending point may be an arc. Therefore, the error between the straight line and the arc is taken as the trajectory error.

[0054] S303. Determine whether the determined trajectory error is greater than the error threshold. If the determined trajectory error is greater than the error threshold, then execute S304; if the determined trajectory error is less than or equal to the error threshold, then execute S308.

[0055] S304. Determine the trajectory point preceding the target endpoint as the simplified path point.

[0056] Understandably, when the determined trajectory error is greater than the error threshold, it means that the trajectory error of using the current target starting point and target ending point to represent the vehicle's driving trajectory is large, and it is not suitable to use the target ending point as a simplified path point. Therefore, the trajectory point before the target ending point is used as the simplified path point.

[0057] S305. Determine whether there are at least two trajectory points after the simplified path point. If there are at least two trajectory points after the simplified path point, execute S306; if there are fewer than two trajectory points after the simplified path point, execute S307.

[0058] S306. Update the simplified path point to the target starting point, and update the second trajectory point after the updated target starting point to the target ending point. Return to step S302 to determine the trajectory error between the target chord and the initial driving trajectory.

[0059] The trajectory point preceding the target endpoint can be denoted as P. previous .

[0060] Since there are at least two more trajectory points after this simplified path point, we can update this simplified path point to the target starting point and update the second trajectory point after the updated target starting point to the target ending point, then return to S302, and continue to search for the next simplified path point starting from this simplified path point.

[0061] S307, Stop filtering.

[0062] Understandably, when there are fewer than two trajectory points following a simplified path point, it indicates that there are no further trajectory points after that simplified path point, or that there is only one. If there are no further trajectory points after a simplified path point, it means that this simplified path point is the last trajectory point, and therefore there is no need to continue filtering for simplified path points. If there is only one trajectory point after a simplified path point, since the distance between adjacent trajectory points is relatively short (i.e., the distance between this simplified path point and the next trajectory point is short), the corresponding trajectory error is generally small, and the trajectory point following this simplified path point can not be considered a simplified path point. Alternatively, to ensure the integrity of the vehicle's driving trajectory, if there is only one trajectory point after a simplified path point, then that trajectory point can be considered a simplified path point.

[0063] S308. Determine whether there is at least one trajectory point after the target endpoint. If there is at least one trajectory point after the target endpoint, execute S309; ​​if there is no trajectory point after the target endpoint, execute S310.

[0064] S309. Update the next trajectory point after the target endpoint to the target endpoint, and return to the step of S302 to determine the trajectory error between the target chord and the initial driving trajectory.

[0065] Understandably, when the determined error is less than or equal to the error threshold, it indicates that the error in representing the vehicle's trajectory using the current target starting point and target ending point is small, and there is at least one trajectory point after the current target ending point. Therefore, we can continue searching for a simpler path point. Thus, we update the trajectory point after the target ending point to the target ending point and return to S302 to continue searching for a simpler path point.

[0066] S310, Stop filtering.

[0067] Understandably, if there are no trajectory points after the target endpoint, it means that the judgment of whether each trajectory point is a simple path point has been completed, and therefore the filtering process stops.

[0068] Optionally, to ensure the integrity of the vehicle's trajectory, if there are no trajectory points after the target endpoint, the target endpoint can be used as a simplified waypoint.

[0069] Through the above method, the embodiments of this disclosure can determine whether each path point is a simple path point one by one. While ensuring that the trajectory error between adjacent simple path points is less than the error threshold, simple path points can be selected from the trajectory points and as many trajectory points as possible can be filtered out. This makes the data volume of simple path points much lower than the total data volume of all trajectory points, so as to reduce the amount of calculation for subsequent trajectory analysis of simple path points.

[0070] In some embodiments of this disclosure, the excessive distance between adjacent simplified path points may cause the line connecting the simplified path points to deviate from the actual driving trajectory. Therefore, embodiments of this disclosure can also control the distance between adjacent simplified path points. Based on this, the method for determining the trajectory error between the target chord and the initial driving trajectory in S302 above includes the following steps:

[0071] Step 1: Determine if the length of the target chord is greater than the chord length threshold. If yes, proceed to Step 2; otherwise, proceed to Step 3.

[0072] Each trajectory point can be represented by latitude and longitude, therefore the target chord length between trajectory points can be determined based on the latitude and longitude distance between the trajectory points.

[0073] For example, the length of the target chord between trajectory points P1 and P2 can be determined using formula (1):

[0074] PH_ActualChordLength=RearthMeridian*arcos[cos(lat1)cos(lat2)cos(long1-long2)+sin(lat1)sin(lat2)] (1)

[0075] Wherein, the target chord length is between P1 and P2, RearthMeridian is the length of the Earth's radius at the meridian, lat1 is the latitude of P1, long1 is the longitude of P1, lat2 is the latitude of P2, and long2 is the longitude of P2.

[0076] The chord length threshold can be represented as K_PH_CHORDLENGTHTHRESHOLD, and the specific value can be set according to actual needs. For example, the chord length threshold can be 10 meters.

[0077] Step 2: Determine the trajectory error between the target chord and the initial driving trajectory as the specified error. This specified error must be greater than an error threshold. For example, the specified error is (error threshold + 1).

[0078] Understandably, when the chord length of the target chord is greater than the chord length threshold, it means that the error of using the current target starting point and target ending point to represent the vehicle's driving trajectory is large, and it is not suitable to use the target ending point as a simplified path point. Therefore, the trajectory error between the target chord and the initial driving trajectory is set as a specified error, so that when S303 is executed, the trajectory point before the target ending point can be used as a simplified path point.

[0079] Step 3: Connect the trajectory points between the target starting point and the target ending point in sequence to obtain an arc. The vertical distance from the designated point on the arc to the target chord is taken as the trajectory error between the target chord and the initial driving trajectory.

[0080] For example, see Figure 4 , Figure 4 Each circle in the diagram represents a trajectory point, where each trajectory point is represented by P. i (lat i ,long i ) indicates that i is the trajectory point index, and lat i Let i be the latitude of the trajectory point i, long i Let be the longitude of trajectory point i. Both latitude and longitude are in radians. For the initial driving trajectory represented by trajectory points P1, P2, and P3, the distance from the specified point on the initial driving trajectory to the line connecting trajectory points P1 and P3 is taken as the trajectory error between the target chord between P1 and P3 and the initial driving trajectory.

[0081] Using the above method, the present invention can use the vertical distance from a specified point on the arc between the target starting point and the target ending point to the target chord as the trajectory error between the target chord and the initial driving trajectory, thereby quantifying the error between adjacent simplified path points and the initial driving trajectory, so that the error can be compared with an error threshold in the future.

[0082] In this embodiment of the disclosure, in step three above, the method of using the vertical distance from a designated point on the arc to the target chord as the trajectory error between the target chord and the initial driving trajectory includes the following two methods:

[0083] In Method 1, which uses the perpendicular distance from a designated point on the arc to the target chord as the trajectory error between the target chord and the initial driving trajectory, the designated point is the point on the arc with the largest distance to the target chord. (See also...) Figure 5 Method 1 specifically includes the following steps:

[0084] S501. Fit the arc to a circular arc and determine the angle between the first connecting line and the second connecting line. The first connecting line is the line connecting the target starting point to the center of the circle corresponding to the arc, and the second connecting line is the line connecting the target ending point to the center of the circle.

[0085] In this embodiment of the disclosure, the difference between the GNSS heading angle corresponding to the target endpoint and the GNSS heading angle corresponding to the target starting point can be used as the angle between the first line and the second line.

[0086] For example, see Figure 6 The starting point of the target is P1, and the ending point is P2. Figure 6 The circle in the diagram is a circle fitted based on P1 and P2. The GNSS direction angle of P1 is H1, and the GNSS direction angle of P2 is H2. H2-H1=Δθ is taken as the angle between the first and second connecting lines.

[0087] S502. Determine the radius of curvature of the arc based on the included angle and the chord length of the target chord.

[0088] Understandably, if the included angle determined by S501 is very small or even close to 0, then the radius of curvature calculated based on that angle will be very large. To avoid this situation, it can be determined whether the included angle is less than the preset minimum included angle. If so, the radius of curvature of the arc is set to the preset maximum radius, i.e., K_PH_MAXESTIMATEDRADIUS, and the trajectory error is set to 0. If not, the radius of curvature of the arc is determined based on the description below.

[0089] S503. Determine the vertical distance from the center of the circle to the target chord based on the included angle and the radius of curvature.

[0090] In this embodiment of the disclosure, the vertical distance from the center of the circle to the target chord can be calculated according to formula (2):

[0091]

[0092] Where d is the perpendicular distance from the center of the circle to the target chord, and PH_EstimatedR is the radius of curvature of the arc. The angle between the first and second lines is given.

[0093] For example, see Figure 4 The perpendicular distance d between the center of the circle and the target chord between trajectory points P1 and P3 is d.

[0094] S504. The difference between the radius of curvature and the determined vertical distance is taken as the trajectory error between the target chord and the initial driving trajectory.

[0095] That is, the trajectory error is determined using formula (3):

[0096] PH_ActualError = PH_EstimatedR–d (3)

[0097] Where PH_ is the trajectory error between the target chord and the initial driving trajectory, PH_ is the radius of curvature, and d is the vertical distance from the center of the circle to the target chord.

[0098] It is understandable that the distance between each point on the arc and the center of the circle is the same, which is the radius of the circle. Therefore, (radius - perpendicular distance from the center of the circle to the target chord) is the maximum distance between the arc and the target chord. Thus, the designated point on the arc is the point with the maximum distance from the target chord.

[0099] Using the above method, this embodiment of the invention can use the difference between the radius of curvature and the perpendicular distance from the center of the circle to the target chord as the trajectory error, thereby determining the farthest distance between a point on the initial driving trajectory and the target chord. If the farthest distance does not exceed the error threshold, then the distance between any point on the initial driving trajectory and the target chord does not exceed the error threshold. Therefore, the trajectory error determined by the above method is more accurate.

[0100] In this embodiment of the disclosure, the method for determining the radius of curvature of the arc in S504 above includes the following two methods:

[0101] Method 1 for determining the radius of curvature of an arc: Determine the sine value of half of the included angle, and use the ratio of the length of the target chord to twice the sine value as the radius of curvature of the arc.

[0102] That is, the radius of curvature can be obtained through formula (4):

[0103]

[0104] Where PH_ is the radius of curvature of the arc, and PH_hh is the chord length of the target chord. The angle between the first and second lines is given.

[0105] Using the above method, the embodiments of this disclosure can obtain the radius of curvature based on the included angle and chord length of the arc, so as to calculate the trajectory error based on the radius of curvature in the future.

[0106] Method 2 for determining the radius of curvature of an arc includes the following steps:

[0107] Step 1: Determine the sine value of half the included angle, determine the ratio of the chord length to twice the sine value, and obtain the approximate radius of curvature of the arc.

[0108] That is, the radius of curvature obtained by method one is used as the approximate radius of curvature, and the approximate radius of curvature is denoted as PH_EstimatedR1.

[0109] Step 2: For each other trajectory point between the target starting point and the target ending point, determine the radius of curvature of the trajectory point based on the vehicle speed and yaw rate corresponding to that trajectory point.

[0110] The radius of curvature of each trajectory point can be calculated using formula (5).

[0111] R 2i = v i / w i (5)

[0112] Where R2 is the trajectory point P i The radius of curvature, b i For P i The corresponding vehicle speed, w i For P i The corresponding yaw rate.

[0113] For example, see Figure 7 Assuming Figure 7 Each trajectory point in the equation is another trajectory point between the target starting point and the target ending point. The radius of curvature of P1 can be obtained as R according to formula (5). 21 =1 / 1, the radius of curvature of P2 is R 22 =2 / 2, the radius of curvature of P3 is R 23 =3 / 3, the radius of curvature of P4 is R 24 =4 / 4, P n The radius of curvature is R2 = n / n The radius of curvature of a point on the trajectory is the distance from the point to the center of the arc it occupies. For example... Figure 7 R in 23 Let P3 be the distance between P and the center of the circle, and R2 be the distance between P and P. n The distance between the object and the center of the circle.

[0114] See Figure 7 Assuming Figure 7 If P1 is the target starting point and P3 is the target ending point, then calculate the radius of curvature of P2.

[0115] Step 3: Determine the average radius of curvature of each trajectory point to obtain the average radius of curvature.

[0116] The average radius of curvature can be calculated using formula (6):

[0117]

[0118] Where PH_2 is the average radius of curvature, R 2i Let P be the trajectory point i The radius of curvature is denoted by n, where n is the number of other trajectory points between the target starting point and the target ending point.

[0119] Step 4: Take the weighted sum of the approximate radius of curvature and the average radius of curvature as the radius of curvature of the arc.

[0120] The radius of curvature of the arc can be calculated using formula (7):

[0121] PH_=K_PH_×PH_EstimatedR1+K_PH_USWEIGHTTWO×PH_2(7)

[0122] Where K_PH_RADIUSWEIGHTONE is the weight of the approximate radius of curvature, PH_1 is the approximate radius of curvature, K_PH_ is the weight of the average radius of curvature, and PH_2 is the average radius of curvature.

[0123] The sum of K_PH_RADIUSWEIGHTONE and K_PH_ is 1, and their specific values ​​can be set according to the actual situation.

[0124] Since the arc between the target start point and the target end point is not necessarily a perfect circle, but may be an elliptical arc, considering the average radius of curvature of other trajectory points between the target start point and the target end point to determine the radius of curvature of the arc can make the determined radius of curvature more accurate.

[0125] In this embodiment of the disclosure, after calculating the radius of curvature of the trajectory points in step 2 above, it can be further determined whether the radius of curvature of each trajectory point exceeds the radius of curvature threshold. If it exceeds, the radius of curvature of the trajectory point is set to a preset maximum value, namely K_PH_MAXESTIMATEDRADIUS. If it does not exceed, the radius of curvature is added to the radius buffer so that the average radius of curvature can be calculated in step 3 based on the radius of curvature in the radius buffer.

[0126] If all the radii of curvature calculated in step 2 exceed the radius of curvature threshold, then the radius buffer will have no radius of curvature, resulting in an average radius of curvature of 0 calculated in step 3. In this case, directly using step 4 to calculate the weighted sum will result in a smaller weighted sum.

[0127] To avoid this situation, in this embodiment of the disclosure, if the radius of curvature of every other trajectory point between the target starting point and the target ending point exceeds the radius threshold, the weight of the approximate radius of curvature can be set to 1, and the weight of the average radius of curvature can be set to 0. That is, K_PH_RADIUSWEIGHTONE is 1, and K_PH_ is 0.

[0128] When the radius of curvature of every other trajectory point between the target starting point and the target ending point exceeds the radius threshold, when calculating the weighted sum, the weight of the approximate radius of curvature is set to 1, and the weight of the average radius of curvature is set to 0. This allows the approximate radius of curvature to be used as the radius of curvature of the arc, avoiding the influence of the average radius of curvature being 0 on the calculation of the radius of curvature of the arc, and improving the accuracy of determining the radius of curvature of the arc.

[0129] In step three above, the vertical distance from a point on the arc to the target chord is used as the trajectory error between the target chord and the initial driving trajectory in method two. The designated point is the trajectory point with the largest distance from the target chord between the target starting point and the target ending point.

[0130] Method 2 can be implemented as follows: determine the vertical distance from each other trajectory point between the target starting point and the target ending point to the target chord, and then select the longest vertical distance from the determined vertical distances as the trajectory error between the target chord and the initial driving trajectory.

[0131] See Figure 8 Let the starting point of the target be A(x1, y1), the ending point of the target be C(x2, y2), and for each other trajectory point between the starting point and the ending point of the target, let the other trajectory point be D(x3, y3), and let the foot of the perpendicular from D to line segment AC be B(x, y).

[0132] Since B is inside line segment AC, we can obtain formula (8):

[0133] B = A + u(CA) (8)

[0134] The value of u ranges from [0,1].

[0135] Since line segment DB is perpendicular to line segment AC, we can obtain:

[0136] (DB)dot(CA)=0 (9)

[0137] Here, dot represents the dot product of vectors.

[0138] Substituting formula (8) into formula (9), we get:

[0139] [DAu(CA)]dot(CA)=0 (10)

[0140] Solving for u using formula (10), we get:

[0141] u=((x3-x1)(x2-x1)+(y3-y1)(y2-y1)) / ||C–A|| 2 (11) Substituting u from formula (11) into the following linear equation, we can obtain B(x,y):

[0142] x=x1+u(x2-x1) (12)

[0143] y = y1 + u(y2 - y1) (13)

[0144] After finding the coordinates of B, i.e. (x, y), the distance d from B to line segment AC can be calculated using formula (14). i :

[0145] d i =sqrt((x³-x)) 2 +(y3-y) 2 (14)

[0146] d i It is the perpendicular distance from another trajectory point between the target starting point and the target ending point to the target chord.

[0147] Then, the trajectory error between the target chord and the initial driving trajectory is determined using formula (15):

[0148] PH_ActualError = MAX(d i (15)

[0149] Where PH_ is the trajectory error, d i Other trajectory points P between the target start point and the target end point i The vertical distance to the target chord, i, ranges from [1, n], where n is the number of other trajectory points between the target starting point and the target ending point.

[0150] Using the method described above, this embodiment of the present disclosure can select the longest vertical distance from the vertical distances between other trajectory points between the target starting point and the target ending point and the target chord as the trajectory error. It eliminates the need to calculate the radius of curvature and the included angle of the arc between the target starting point and the target ending point, thus resulting in higher computational efficiency.

[0151] In this embodiment of the disclosure, a buffer set can be set up to store multiple recently determined simplified path points. This allows the electronic device to send the simplified path points from the buffer set to other vehicles or devices, enabling those vehicles or devices to analyze the driving trajectory of the vehicle containing the electronic device based on the received simplified path points.

[0152] Therefore, after taking the starting point of the trajectory points as a simplified path point, this simplified path point can be added to the buffer set.

[0153] Moreover, see Figure 9 After determining the preceding trajectory point of the target endpoint as a simplified path point in S303 above, the following steps can also be performed:

[0154] S901. Add the determined concise path points to the buffer set.

[0155] S902. If the length of the driving trajectory represented by each simplified path point in the buffer set is greater than the length threshold, then delete the first specified number of simplified path points from the buffer set in the order they were added to the buffer set from earliest to latest.

[0156] Among them, the length of the driving trajectory represented by each concise path point in the buffer set after deletion is less than or equal to the length threshold.

[0157] Optionally, the length threshold can be set according to the storage capacity of the electronic device or actual needs, for example, a length threshold of 100 meters.

[0158] The first specified quantity can be a preset quantity, or it can be determined based on the distance between adjacent simplified path points in the buffer set and the length threshold, such that the length of the driving trajectory represented by each simplified path point in the buffer set after deletion is less than or equal to the length threshold.

[0159] S903. If the number of concise path points in the buffer set is greater than the number threshold, then delete the second specified number of concise path points from the buffer set in the order they were added to the buffer set from earliest to latest.

[0160] Among them, the number of concise path points in the buffer set after deletion is less than or equal to the number threshold.

[0161] Optionally, the quantity threshold can be set according to the storage capacity of the electronic device or actual needs, for example, a quantity threshold of 15.

[0162] The second specified quantity can be a preset quantity, or it can be determined based on the number of adjacent simplified path points in the buffer set and a quantity threshold, such that the number of simplified path points in the buffer set after deletion is less than or equal to the quantity threshold.

[0163] By using the above method, embodiments of this disclosure can limit the length of the travel trajectory represented by the simplified path points included in the buffer set, as well as the number of simplified path points, thereby reducing the number of simplified path points sent to other devices. Since sending too much data at once may result in other devices not being able to receive it completely, embodiments of this disclosure limit the number of simplified path points included in the buffer set, which can improve data transmission efficiency.

[0164] Based on the same inventive concept, corresponding to the above method embodiments, this disclosure provides a trajectory determination device, such as... Figure 10 As shown, the device includes: an acquisition module 1001, a filtering module 1002, and a determination module 1003;

[0165] The acquisition module 1001 is used to acquire multiple trajectory points generated by the vehicle during its driving process;

[0166] The filtering module 1002 is used to filter out simplified path points from multiple trajectory points obtained by the acquisition module 1001; wherein, the trajectory error between the line connecting adjacent simplified path points and the initial driving trajectory is less than or equal to the error threshold, and the initial driving trajectory is the driving trajectory represented by each trajectory point between adjacent simplified path points.

[0167] The determination module 1003 is used to obtain the vehicle's driving trajectory based on the simplified path points filtered by the filtering module 1002.

[0168] In some embodiments of this disclosure, the filtering module 1002 is specifically used for:

[0169] Take the starting point among multiple trajectory points as the target starting point, and take the second trajectory point after the target starting point as the target ending point;

[0170] Determine the trajectory error between the target chord and the initial driving trajectory. The target chord is the line connecting the target start point and the target end point.

[0171] If the determined trajectory error is greater than the error threshold, then the trajectory point preceding the target endpoint is determined as a simplified path point; if there are at least two trajectory points after the simplified path point, the simplified path point is updated as the target starting point, and the second trajectory point after the updated target starting point is updated as the target endpoint, and the process returns to the step of determining the trajectory error between the target chord and the initial driving trajectory; if the number of trajectory points after the simplified path point is less than two, the filtering stops.

[0172] If the determined trajectory error is less than or equal to the error threshold, then if there is at least one trajectory point after the target endpoint, update the next trajectory point after the target endpoint to the target endpoint and return to the step of determining the trajectory error between the target chord and the initial driving trajectory; or if there is no trajectory point after the target endpoint, stop filtering.

[0173] In some embodiments of this disclosure, the filtering module 1002 is specifically used for:

[0174] Determine whether the length of the target chord is greater than a chord length threshold;

[0175] If so, the trajectory error between the target chord and the initial driving trajectory is determined as the specified error, and the specified error is greater than the error threshold.

[0176] If not, then connect the trajectory points between the target starting point and the target ending point in sequence to obtain an arc. The vertical distance from the specified point on the arc to the target chord is taken as the trajectory error between the target chord and the initial driving trajectory.

[0177] In some embodiments of this disclosure, the filtering module 1002 is specifically used for:

[0178] Fit the arc to a circular arc and determine the angle between the first and second connecting lines; the first connecting line is the line connecting the target starting point to the center of the circle corresponding to the circular arc, and the second connecting line is the line connecting the target ending point to the center of the circle.

[0179] Determine the radius of curvature of the arc based on the included angle and the chord length of the target chord;

[0180] Determine the perpendicular distance from the center of the circle to the target chord based on the included angle and the radius of curvature;

[0181] The difference between the radius of curvature and the determined vertical distance is taken as the trajectory error between the target chord and the initial driving trajectory.

[0182] In some embodiments of this disclosure, the filtering module 1002 is specifically used for:

[0183] Determine the sine value of half the included angle;

[0184] The ratio of the chord length to twice the sine value is used as the radius of curvature of the arc.

[0185] In some embodiments of this disclosure, the filtering module 1002 is specifically used for:

[0186] Determine the sine value of half the included angle;

[0187] By determining the ratio of the chord length to twice the sine value, the approximate radius of curvature of the arc can be obtained;

[0188] For each other trajectory point between the target starting point and the target ending point, determine the radius of curvature of the trajectory point based on the vehicle speed and yaw rate corresponding to that trajectory point;

[0189] Determine the average radius of curvature at each trajectory point to obtain the average radius of curvature;

[0190] The radius of curvature of the arc is the weighted sum of the approximate radius of curvature and the average radius of curvature.

[0191] In some embodiments of this disclosure, the apparatus further includes:

[0192] The setting module is used to set the weight of the approximate radius of curvature to 1 and the weight of the average radius of curvature to 0 before using the weighted sum of the approximate radius of curvature and the average radius of curvature as the radius of curvature of the arc. If the radius of curvature of every other trajectory point between the target start point and the target end point exceeds the radius threshold, then the weight of the approximate radius of curvature is set to 1 and the weight of the average radius of curvature is set to 0.

[0193] In some embodiments of this disclosure, the filtering module 1002 is specifically used for:

[0194] Determine the perpendicular distance from each other trajectory point between the target starting point and the target ending point to the target chord;

[0195] The longest vertical distance is selected from the determined vertical distances and used as the trajectory error between the target chord and the initial driving trajectory.

[0196] In some embodiments of this disclosure, the device may further include:

[0197] The add module is used to add the determined simplified path point to the buffer set after determining that the previous trajectory point of the target endpoint is a simplified path point;

[0198] The deletion module is used to delete a first specified number of simplified path points from the buffer set if the length of the driving trajectory represented by each simplified path point in the buffer set is greater than the length threshold, in the order of addition to the buffer set from earliest to latest; wherein, after deletion, the length of the driving trajectory represented by each simplified path point in the buffer set is less than or equal to the length threshold.

[0199] The deletion module is also used to delete a second specified number of simplified path points from the buffer set in the order they were added to the buffer set from earliest to latest if the number of simplified path points in the buffer set is greater than the number threshold; wherein, after deletion, the number of simplified path points in the buffer set is less than or equal to the number threshold.

[0200] The collection, storage, use, processing, transmission, provision, and disclosure of trajectory information involved in the technical solution disclosed herein all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0201] It should be noted that the trajectory information in this embodiment is not a head model for a specific user and does not reflect the personal information of a specific user.

[0202] It should be noted that the trajectory information in this embodiment may come from a publicly available dataset.

[0203] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0204] Figure 11 A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure 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 may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, 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 present disclosure described and / or claimed herein.

[0205] like Figure 11 As shown, the electronic device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a random access memory (RAM) 1103. The RAM 1103 may also store various programs and data required for the operation of the electronic device 1100. The computing unit 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0206] Multiple components in electronic device 1100 are connected to I / O interface 1105, including: input unit 1106, such as keyboard, mouse, etc.; output unit 1107, such as various types of displays, speakers, etc.; storage unit 1108, such as disk, optical disk, etc.; and communication unit 1109, such as network card, modem, wireless transceiver, etc. Communication unit 1109 allows electronic device 1100 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0207] The computing unit 1101 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1101 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 computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above, such as the trajectory determination method. For example, in some embodiments, the trajectory determination method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 1100 via ROM 1102 and / or communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, one or more steps of the trajectory determination method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the trajectory determination method by any other suitable means (e.g., by means of firmware).

[0208] 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), complex 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.

[0209] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0210] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0211] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. 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).

[0212] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments 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., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0213] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0214] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0215] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. 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 disclosure should be included within the scope of protection of this disclosure.

Claims

1. A trajectory determination method, comprising: Acquire multiple trajectory points generated by the vehicle during its driving process; A concise path point is selected from the plurality of trajectory points; wherein the trajectory error between the line connecting adjacent concise path points and the initial driving trajectory is less than or equal to an error threshold, and the initial driving trajectory is the driving trajectory represented by each trajectory point between adjacent concise path points. The vehicle's trajectory is obtained based on each concise waypoint; The step of selecting concise path points from the plurality of trajectory points includes: The starting point among multiple trajectory points is taken as the target starting point, and the second trajectory point after the target starting point is taken as the target ending point; Determine the trajectory error between the target chord and the initial driving trajectory, wherein the target chord is the line connecting the target starting point and the target ending point; If the determined trajectory error is greater than the error threshold, then the trajectory point preceding the target endpoint is determined as a simplified path point; if there are at least two trajectory points after the simplified path point, the simplified path point is updated as the target starting point, and the second trajectory point after the updated target starting point is updated as the target endpoint, and the process returns to the step of determining the trajectory error between the target chord and the initial driving trajectory; if the number of trajectory points after the simplified path point is less than two, the filtering stops. If the determined trajectory error is less than or equal to the error threshold, then if there is at least one trajectory point after the target endpoint, the trajectory point after the target endpoint is updated to the target endpoint, and the process returns to the step of determining the trajectory error between the target chord and the initial driving trajectory; or if there is no trajectory point after the target endpoint, the filtering process stops.

2. The method according to claim 1, wherein, The determination of the trajectory error between the target chord and the initial driving trajectory includes: Determine whether the length of the target string is greater than a string length threshold; If so, the trajectory error between the target chord and the initial driving trajectory is determined to be a specified error, and the specified error is greater than the error threshold. If not, then connect the trajectory points between the target starting point and the target ending point in sequence to obtain an arc. The vertical distance from the designated point on the arc to the target chord is taken as the trajectory error between the target chord and the initial driving trajectory.

3. The method according to claim 2, wherein, The step of using the vertical distance from a designated point on the arc to the target chord as the trajectory error between the target chord and the initial driving trajectory includes: The arc is fitted into a circular arc, and the angle between the first connecting line and the second connecting line is determined; the first connecting line is the line connecting the target starting point and the center of the circle corresponding to the circular arc, and the second connecting line is the line connecting the target ending point and the center of the circle; The radius of curvature of the arc is determined based on the included angle and the chord length of the target chord. The perpendicular distance from the center of the circle to the target chord is determined based on the included angle and the radius of curvature. The difference between the radius of curvature and the determined vertical distance is taken as the trajectory error between the target chord and the initial driving trajectory.

4. The method according to claim 3, wherein, Determining the radius of curvature of the arc based on the included angle and the chord length of the target chord includes: Determine the sine value of half of the included angle; The ratio of the chord length to twice the sine value is taken as the radius of curvature of the arc.

5. The method according to claim 3, wherein, Determining the radius of curvature of the arc based on the included angle and the chord length of the target chord includes: Determine the sine value of half of the included angle; By determining the ratio of the chord length to twice the sine value, the approximate radius of curvature of the arc can be obtained; For each other trajectory point between the target starting point and the target ending point, the radius of curvature of the trajectory point is determined based on the vehicle speed and yaw rate corresponding to that trajectory point. Determine the average radius of curvature at each trajectory point to obtain the average radius of curvature; The weighted sum of the approximate radius of curvature and the average radius of curvature is taken as the radius of curvature of the arc.

6. The method of claim 5, further comprising, before taking the weighted sum of the approximate radius of curvature and the average radius of curvature as the radius of curvature of the arc: If the radius of curvature of every other trajectory point between the target starting point and the target ending point exceeds the radius threshold, then the weight of the approximate radius of curvature is set to 1, and the weight of the average radius of curvature is set to 0.

7. The method according to claim 2, wherein, The step of using the vertical distance from a designated point on the arc to the target chord as the trajectory error between the target chord and the initial driving trajectory includes: Determine the perpendicular distance from each of the other trajectory points between the target starting point and the target ending point to the target chord; The longest vertical distance is selected from the determined vertical distances and used as the trajectory error between the target chord and the initial driving trajectory.

8. The method according to any one of claims 1-7, wherein after determining that the preceding trajectory point of the target endpoint is a simplified path point, the method further comprises: Add the identified concise path points to the buffer set; If the length of the driving trajectory represented by each simplified path point in the buffer set is greater than the length threshold, then a first specified number of simplified path points are deleted from the buffer set in the order they were added to the buffer set from earliest to latest; wherein, after deletion, the length of the driving trajectory represented by each simplified path point in the buffer set is less than or equal to the length threshold. If the number of simplified path points in the buffer set is greater than the number threshold, then a second specified number of simplified path points are deleted from the buffer set in the order they were added to the buffer set from earliest to latest; wherein, after deletion, the number of simplified path points in the buffer set is less than or equal to the number threshold.

9. A trajectory determining device, comprising: The acquisition module is used to acquire multiple trajectory points generated by the vehicle during its driving process; A filtering module is used to filter out simplified path points from the plurality of trajectory points obtained by the acquisition module; wherein the trajectory error between the line connecting adjacent simplified path points and the initial driving trajectory is less than or equal to an error threshold, and the initial driving trajectory is the driving trajectory represented by each trajectory point between adjacent simplified path points. The determination module is used to obtain the vehicle's driving trajectory based on the simplified path points filtered by the filtering module; The filtering module is specifically used for: The starting point among multiple trajectory points is taken as the target starting point, and the second trajectory point after the target starting point is taken as the target ending point; Determine the trajectory error between the target chord and the initial driving trajectory, wherein the target chord is the line connecting the target starting point and the target ending point; If the determined trajectory error is greater than the error threshold, then the trajectory point preceding the target endpoint is determined as a simplified path point; if there are at least two trajectory points after the simplified path point, the simplified path point is updated as the target starting point, and the second trajectory point after the updated target starting point is updated as the target endpoint, and the process returns to the step of determining the trajectory error between the target chord and the initial driving trajectory; if the number of trajectory points after the simplified path point is less than two, the filtering stops. If the determined trajectory error is less than or equal to the error threshold, then if there is at least one trajectory point after the target endpoint, the trajectory point after the target endpoint is updated to the target endpoint, and the process returns to the step of determining the trajectory error between the target chord and the initial driving trajectory; or if there is no trajectory point after the target endpoint, the filtering process stops.

10. The apparatus according to claim 9, wherein, The filtering module is specifically used for: Determine whether the length of the target string is greater than a string length threshold; If so, the trajectory error between the target chord and the initial driving trajectory is determined to be a specified error, and the specified error is greater than the error threshold. If not, then connect the trajectory points between the target starting point and the target ending point in sequence to obtain an arc. The vertical distance from the designated point on the arc to the target chord is taken as the trajectory error between the target chord and the initial driving trajectory.

11. The apparatus according to claim 10, wherein, The filtering module is specifically used for: The arc is fitted into a circular arc, and the angle between the first connecting line and the second connecting line is determined; the first connecting line is the line connecting the target starting point and the center of the circle corresponding to the circular arc, and the second connecting line is the line connecting the target ending point and the center of the circle; The radius of curvature of the arc is determined based on the included angle and the chord length of the target chord. The perpendicular distance from the center of the circle to the target chord is determined based on the included angle and the radius of curvature. The difference between the radius of curvature and the determined vertical distance is taken as the trajectory error between the target chord and the initial driving trajectory.

12. The apparatus according to claim 11, wherein, The filtering module is specifically used for: Determine the sine value of half of the included angle; The ratio of the chord length to twice the sine value is taken as the radius of curvature of the arc.

13. The apparatus according to claim 11, wherein, The filtering module is specifically used for: Determine the sine value of half of the included angle; By determining the ratio of the chord length to twice the sine value, the approximate radius of curvature of the arc can be obtained; For each other trajectory point between the target starting point and the target ending point, the radius of curvature of the trajectory point is determined based on the vehicle speed and yaw rate corresponding to that trajectory point. Determine the average radius of curvature at each trajectory point to obtain the average radius of curvature; The weighted sum of the approximate radius of curvature and the average radius of curvature is taken as the radius of curvature of the arc.

14. The apparatus of claim 13, further comprising: The setting module is configured to, before setting the weight of the approximate radius of curvature to 1 and the weight of the average radius of curvature to 0, if the radius of curvature of each other trajectory point between the target starting point and the target ending point exceeds a radius threshold, before using the weighted sum of the approximate radius of curvature and the average radius of curvature as the radius of curvature of the arc.

15. The apparatus according to claim 10, wherein, The filtering module is specifically used for: Determine the perpendicular distance from each of the other trajectory points between the target starting point and the target ending point to the target chord; The longest vertical distance is selected from the determined vertical distances and used as the trajectory error between the target chord and the initial driving trajectory.

16. The apparatus according to any one of claims 9-15, further comprising: The addition module is used to add the determined simplified path point to the buffer set after the previous trajectory point of the target endpoint is determined to be a simplified path point; The deletion module is used to delete a first specified number of simplified path points from the buffer set if the length of the driving trajectory represented by each simplified path point in the buffer set is greater than a length threshold; wherein, after deletion, the length of the driving trajectory represented by each simplified path point in the buffer set is less than or equal to the length threshold. The deletion module is further configured to delete a second specified number of simplified path points from the buffer set if the number of simplified path points in the buffer set is greater than a quantity threshold, in the order in which they were added to the buffer set from earliest to latest; wherein, after deletion, the number of simplified path points in the buffer set is less than or equal to the quantity threshold.

17. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-8.

19. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-8.

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