Course angle correction method, device, equipment, storage medium and program product

Abstract

The application relates to a heading angle correction method, device, equipment, storage medium and program product. The method comprises the following steps: obtaining heading angle information of a target vehicle at a previous moment and at a current moment, determining heading angle change information of the target vehicle according to the heading angle information at the previous moment and the heading angle information at the current moment, and then correcting the heading angle information of the target vehicle at the current moment according to the current driving state of the target vehicle and the heading angle change information. The method improves the accuracy of the correction of the heading angle information of the target vehicle, and effectively suppresses abnormal shaking and rotation of the heading angle of the target vehicle during parking and waiting and during movement.

Description

Technical Field

[0001] This application relates to the field of computer vision technology, and in particular to a heading angle correction method, apparatus, device, storage medium, and program product. Background Technology

[0002] In the era of big transportation, holographic intersections based on integrated perception and traffic digital twin platforms are effective means to achieve vehicle-road collaboration and traffic management.

[0003] The accuracy of the vehicle's heading angle in a twin platform is a crucial factor in the quality of the twin's performance. However, due to the limited detection accuracy of sensing devices (LiDAR, cameras, millimeter-wave radar, etc.), the perceived vehicle position may shift, leading to errors in the calculation of the vehicle's heading angle and thus affecting the twin's effectiveness.

[0004] Therefore, how to correct the vehicle's heading angle information has become an urgent technical problem to be solved. Summary of the Invention

[0005] Therefore, it is necessary to provide a heading angle correction method, apparatus, device, storage medium, and program product that can correct the heading angle information of a vehicle, in order to address the above-mentioned technical problems.

[0006] Firstly, this application provides a heading angle correction method, which includes:

[0007] Obtain the heading angle information of the target vehicle at the previous moment and at the current moment;

[0008] Based on the heading angle information of the previous moment and the heading angle information of the current moment, determine the heading angle change information of the target vehicle;

[0009] Based on the target vehicle's current driving status and heading angle change information, the heading angle information of the target vehicle at the current moment is corrected.

[0010] In one embodiment, the heading angle information of the target vehicle at the current moment is corrected based on the target vehicle's current driving state and heading angle change information, including:

[0011] Obtain the heading angle change threshold;

[0012] Based on the target vehicle's current driving status, heading angle change information, and heading angle change threshold, the heading angle information of the target vehicle at the current moment is corrected.

[0013] In one embodiment, obtaining the heading angle change threshold includes:

[0014] Obtain the target vehicle's current speed and vehicle type;

[0015] Based on speed information and vehicle type, the heading angle change threshold is determined; there is a one-to-one correspondence between speed information, vehicle type, and heading angle change threshold.

[0016] In one embodiment, the heading angle information of the target vehicle at the current moment is corrected based on the target vehicle's current driving state, heading angle change information, and heading angle change threshold, including:

[0017] If the target vehicle is currently in a parked state, and the absolute value of the heading angle change information is greater than the heading angle change threshold, then the heading angle information of the target vehicle at the current moment will be corrected to the heading angle information of the target vehicle at the previous moment.

[0018] In one embodiment, the heading angle information of the target vehicle at the current moment is corrected based on the target vehicle's current driving state, heading angle change information, and heading angle change threshold, including:

[0019] If the target vehicle is currently in a driving state, then the heading angle information of the target vehicle at the current moment is corrected according to the relationship between the absolute value of the heading angle change information and the heading angle change threshold.

[0020] In one embodiment, the heading angle information of the target vehicle at the current moment is corrected based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold, including:

[0021] If the absolute value of the heading angle change information is greater than the heading angle change threshold, and the heading angle change information is greater than 0, then the heading angle correction information of the target vehicle is determined based on the ratio between the heading angle change information and the heading angle change threshold and the heading angle change threshold.

[0022] Based on the sum of the target vehicle's heading angle information and heading angle correction information at the previous moment, the heading angle information of the target vehicle at the current moment is corrected.

[0023] In one embodiment, the heading angle information of the target vehicle at the current moment is corrected based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold, including:

[0024] If the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is less than 0, then obtain the ratio between the absolute value of the heading angle change information and the heading angle change threshold, and the heading angle change threshold, to determine the heading angle correction information of the target vehicle.

[0025] Based on the difference between the target vehicle's heading angle information and the heading angle correction information at the previous moment, the heading angle information of the target vehicle at the current moment is corrected.

[0026] In one embodiment, the method further includes:

[0027] Obtain the position coordinates of the target vehicle at multiple consecutive time points;

[0028] Based on the position coordinates of the target vehicle at multiple consecutive moments, determine the speed information of the target vehicle at multiple consecutive moments.

[0029] The current driving status of the target vehicle is determined based on its speed information at multiple consecutive moments.

[0030] In one embodiment, determining the current driving state of the target vehicle based on its speed information at multiple consecutive moments includes:

[0031] If the speed information of the target vehicle is less than the preset speed threshold at multiple consecutive moments, the current driving state of the target vehicle is determined to be a stopped state.

[0032] Otherwise, determine the current driving status of the target vehicle as the driving status.

[0033] In one embodiment, obtaining the heading angle information of the target vehicle at the current moment includes:

[0034] Obtain the target vehicle's position coordinates at the previous moment and its position coordinates at the current moment;

[0035] Based on the target vehicle's position coordinates at the previous moment and its position coordinates at the current moment, determine the target vehicle's heading angle at the current moment.

[0036] Secondly, this application also provides a heading angle correction device, which includes:

[0037] The acquisition module is used to acquire the heading angle information of the target vehicle at the previous moment and the heading angle information at the current moment;

[0038] The determination module is used to determine the heading angle change information of the target vehicle based on the heading angle information of the previous moment and the heading angle information of the current moment;

[0039] The correction module is used to correct the heading angle information of the target vehicle at the current moment based on the target vehicle's current driving status and heading angle change information.

[0040] Thirdly, embodiments of this application provide a computer device including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method provided in any of the embodiments of the first aspect described above.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in any of the embodiments of the first aspect described above.

[0042] Fifthly, embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the method provided in any of the embodiments of the first aspect described above.

[0043] The aforementioned heading angle correction method, apparatus, device, storage medium, and program product acquire the heading angle information of the target vehicle at the previous moment and the current moment, determine the heading angle change information of the target vehicle based on the heading angle information at the previous moment and the current moment, and then correct the heading angle information of the target vehicle at the current moment based on the current driving state of the target vehicle and the heading angle change information. In this method, the heading angle information of the target vehicle at the current moment is corrected by using the heading angle change information of the target vehicle at the previous moment and the current moment. Furthermore, the current driving state of the target vehicle is considered when correcting the heading angle information of the target vehicle at the current moment, further improving the accuracy of the heading angle information correction and effectively suppressing abnormal jitter and rotation of the heading angle of the target vehicle during parking, waiting, and movement. Attached Figure Description

[0044] Figure 1 This is an application environment diagram of the heading angle correction method in one embodiment;

[0045] Figure 2 This is a flowchart illustrating a heading angle correction method in one embodiment;

[0046] Figure 3 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0047] Figure 4 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0048] Figure 5 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0049] Figure 6 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0050] Figure 7 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0051] Figure 8 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0052] Figure 9 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0053] Figure 10 This is a flowchart illustrating the heading angle correction method in another embodiment;

[0054] Figure 11 This is a structural block diagram of a heading angle correction device in one embodiment;

[0055] Figure 12 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0057] The heading angle correction method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the sensing device 102 communicates with the server 104 via a network. A data storage system can store the data that the server 104 needs to process. The data storage system can be integrated onto the server 104, or it can be located in the cloud or on other network servers. The sensing device 102 can be a camera, LiDAR, millimeter-wave radar, or other sensing devices. The server 104 can be a standalone server or a server cluster consisting of multiple servers.

[0058] Due to the limited detection accuracy of the sensing equipment, the vehicle's position information may be offset, which in turn leads to errors in the calculation of the vehicle's heading angle. As a result, the vehicle's heading angle exhibits abnormal shaking and offset rotation on the twin platform, violating the laws of kinematics.

[0059] In existing technologies, the correction of vehicle heading angles is based on pre-measured lane heading angles. This leads to time-consuming queries for lane heading angle information and also affects the correction effect in non-vehicle road sections (intersection areas). Therefore, it is not conducive to improving the effectiveness of digital twins.

[0060] Based on this, this application proposes a heading angle correction method, device, equipment, storage medium, and program product to correct the current heading angle of the target vehicle in real time, so that the heading angle twin effect is more in line with the laws of kinematics.

[0061] In one embodiment, such as Figure 2 As shown, a heading angle correction method is provided. This embodiment includes the following steps:

[0062] S201, Obtain the heading angle information of the target vehicle at the previous moment and the heading angle information at the current moment.

[0063] The heading angle of a vehicle represents the angle between the vehicle's center of mass velocity and the horizontal axis (the X-axis in the geodetic coordinate system) in the geodetic coordinate system.

[0064] One way to obtain the heading angle information of the target vehicle at the previous moment and the heading angle information at the current moment is to obtain the sensing information of the vehicle at the previous moment and the current moment through the sensing information, and then obtain the heading angle information of the target vehicle at the previous moment and the current moment through the sensing information.

[0065] The target vehicle is any vehicle whose heading angle needs to be corrected. It should be noted that the previous moment can also be any moment before the current moment for the target vehicle.

[0066] The following example illustrates how to obtain the heading angle information of the target vehicle at the current moment. In one embodiment, such as... Figure 3 As shown, obtaining the heading angle information of the target vehicle at the current moment includes the following steps:

[0067] S301, obtain the target vehicle's position coordinates at the previous moment and its position coordinates at the current moment.

[0068] The heading angle of a target vehicle can be determined by its position coordinates. Therefore, when calculating the heading angle of a target vehicle at the current moment, the position coordinates of the target vehicle at the previous moment and its position coordinates at the current moment can be obtained first.

[0069] Taking LiDAR as an example of a sensing device, the point cloud data of the target vehicle collected by the sensing device at the previous moment and at the current moment are acquired. Then, the point cloud data of the target vehicle at the previous moment and at the current moment are detected to determine the position coordinates of the target vehicle at the previous moment and at the current moment.

[0070] If the sensing device is a camera, the images of the target vehicle captured by the camera at the previous moment and at the current moment are acquired. Then, the target vehicle in the images is detected to determine the position coordinates of the target vehicle at the previous moment and at the current moment.

[0071] S302, based on the target vehicle's position coordinates at the previous moment and its position coordinates at the current moment, determine the target vehicle's heading angle at the current moment.

[0072] Based on the target vehicle's position coordinates at the previous moment and at the current moment, the heading angle of the target vehicle at the current moment can be determined using formula (1).

[0073]

[0074] Where θ represents the heading angle of the target vehicle at the current moment, (x0,y0) represents the position coordinates of the target vehicle at the previous moment, and (x1,y1) represents the position coordinates of the target vehicle at the current moment.

[0075] It should be noted that the method for obtaining the heading angle information of the target vehicle at the previous moment is the same as the method for obtaining the heading angle information of the target vehicle at the current moment, and will not be repeated here.

[0076] S202, Based on the heading angle information of the previous moment and the heading angle information of the current moment, determine the heading angle change information of the target vehicle.

[0077] The heading angle change information of the target vehicle refers to the change of the heading angle of the target vehicle at the current moment relative to the previous moment. Therefore, the difference between the heading angle information of the target vehicle at the current moment and the heading angle change information of the target vehicle at the previous moment can be determined as the heading angle change information of the target vehicle.

[0078] For example, if the heading angle information of the target vehicle at the previous moment is θ0, and the heading angle change information of the target vehicle at the current moment is θ1, then (θ1-θ0) is determined as the heading angle change information of the target vehicle.

[0079] S203, based on the target vehicle's current driving status and heading angle change information, correct the target vehicle's heading angle information at the current moment.

[0080] When correcting the heading angle information of the target vehicle, it is also necessary to prevent excessive heading angle correction when the target vehicle starts turning in the turning area or makes a U-turn, which could cause the heading angle displayed on the twin platform to lag behind the actual target vehicle. Simultaneously, it is also necessary to consider the issue of inaccurate position coordinate information caused by perception fusion errors when the target vehicle is waiting at a traffic light at the stop line, leading to jitter in the calculated heading angle in all directions. Therefore, it is necessary to accurately determine whether the target vehicle is stopped and waiting, and then use historical heading angles to correct the current heading angle.

[0081] Therefore, when correcting the heading angle information of the target vehicle at the current moment, it is first necessary to obtain the current driving state of the target vehicle, and then correct the heading angle information of the target vehicle at the current moment based on the current driving state and the heading angle change information.

[0082] The aforementioned heading angle correction method acquires the heading angle information of the target vehicle at the previous moment and at the current moment. Based on these two information, it determines the heading angle change of the target vehicle. Then, based on the target vehicle's current driving state and the heading angle change information, it corrects the target vehicle's heading angle information at the current moment. This method corrects the target vehicle's heading angle information at the current moment by using the heading angle change information from the previous and current moments. Furthermore, it considers the target vehicle's current driving state when correcting the heading angle information at the current moment, further improving the accuracy of the heading angle correction and effectively suppressing abnormal heading angle fluctuations and rotations during parking, waiting, and movement.

[0083] The following example illustrates how to correct the heading angle information of a target vehicle at the current moment. In one example, such as... Figure 4 As shown, based on the target vehicle's current driving status and heading angle change information, the heading angle information of the target vehicle at the current moment is corrected, including the following steps:

[0084] S401, obtain the heading angle change threshold.

[0085] The heading angle change threshold can be determined based on kinematic laws. For example, the heading angle change threshold of the target vehicle can be determined based on the target vehicle's speed and type.

[0086] For motor vehicles, the change in heading angle between adjacent moments (0.1s) is extremely limited depending on the speed and vehicle type. In particular, the higher the speed, the smaller the change in heading angle between adjacent moments.

[0087] Therefore, in one embodiment, such as Figure 5 As shown, obtaining the heading angle change threshold includes the following steps:

[0088] S501, Obtain the target vehicle's speed information and vehicle type at the current moment.

[0089] The vehicle type of the target vehicle can be obtained by detecting the target vehicle data collected by the sensing device.

[0090] The speed information of the target vehicle at the current moment can be obtained from the position coordinate information of the target vehicle at the previous moment and the position coordinate information at the current moment. For example, if the position coordinate information of the target vehicle at the previous moment is (x0, y0), the position coordinate information of the target vehicle at the current moment is (x1, y1).

[0091] The target vehicle's speed information at the current moment is:

[0092]

[0093] Where v represents the speed of the target vehicle at the current moment, and Δt represents the time difference between the current moment and the previous moment.

[0094] S502, determine the heading angle change threshold based on speed information and vehicle type; there is a one-to-one correspondence between speed information, vehicle type and heading angle change threshold.

[0095] The corresponding heading angle change threshold curves can be fitted to different vehicle models and speeds using kinematic laws.

[0096] Then, using the target vehicle's current speed information and vehicle type, the corresponding heading angle change threshold is obtained from the heading angle change threshold curve.

[0097] Different speed information and different vehicle types correspond to different heading angle change thresholds. Therefore, once the target vehicle's speed information and vehicle type are determined, the corresponding heading angle change threshold is uniquely determined.

[0098] S402, based on the target vehicle's current driving status, heading angle change information, and heading angle change threshold, correct the target vehicle's heading angle information at the current moment.

[0099] The heading angle change threshold and the heading angle change information are compared. If the heading angle change information exceeds the threshold, it is determined that the heading angle change of the target vehicle is unreasonable and the heading angle information of the target vehicle at the current moment needs to be corrected.

[0100] When correcting the heading angle information of the target vehicle at the current moment, the heading angle information is further corrected based on the current driving state of the target vehicle at the current moment.

[0101] In one embodiment, the heading angle information of the target vehicle at the current moment can also be corrected by comprehensively considering the target vehicle's current driving state, heading angle change threshold, and heading angle change information. For example, the heading angle information of the target vehicle at the current moment can be directly corrected by a preset correction model. Specifically, the target vehicle's current driving state, heading angle change information, and heading angle change threshold are used as inputs to the preset correction model. Through the analysis of the correction model, the heading angle information of the target vehicle at the current moment is directly output.

[0102] The aforementioned heading angle correction method obtains a heading angle change threshold and corrects the heading angle information of the target vehicle at the current moment based on the target vehicle's current driving state, heading angle change information, and heading angle change threshold. This method, by considering the target vehicle's current driving state, heading angle change information, and heading angle change threshold to correct the target vehicle's heading angle information at the current moment, can effectively suppress abnormal jitter and rotation of the target vehicle's heading angle in its current driving state.

[0103] In one embodiment, the heading angle information of the target vehicle at the current moment is corrected based on the target vehicle's current driving state, heading angle change information, and heading angle change threshold. This includes: if the target vehicle's current driving state is a stopped state, and the absolute value of the heading angle change information is greater than the heading angle change threshold, then the heading angle information of the target vehicle at the current moment is corrected to the heading angle information of the target vehicle at the previous moment.

[0104] If the target vehicle is currently in a parked state, and the absolute value of the target vehicle's heading angle change information is greater than the heading angle change threshold, then the target vehicle's heading angle information at the current moment will be corrected to the target vehicle's heading angle information at the previous moment.

[0105] Otherwise, if the target vehicle is currently in a parked state, and the absolute value of the target vehicle's heading angle change information is less than or equal to the heading angle change threshold, it means that the target vehicle's heading angle change is within the allowable range, and there is no need to correct the target vehicle's heading angle information at the current moment; the target vehicle's heading angle information at the current moment remains unchanged.

[0106] In one embodiment, the heading angle information of the target vehicle at the current moment is corrected based on the current driving state of the target vehicle, the heading angle change information, and the heading angle change threshold. This includes: if the current driving state of the target vehicle is driving, then the heading angle information of the target vehicle at the current moment is corrected based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold.

[0107] If the target vehicle is currently in a driving state, the heading angle change information needs to be restricted within the kinematic laws. Therefore, the heading angle information of the target vehicle at the current moment is corrected based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold.

[0108] If the target vehicle is currently in a driving state, and the absolute value of the target vehicle's heading angle change information is less than or equal to the heading angle change threshold, it means that the target vehicle's heading angle change is within the allowable range, and there is no need to correct the target vehicle's heading angle information at the current moment; the target vehicle's heading angle information at the current moment remains unchanged.

[0109] If the target vehicle is currently in a driving state and the absolute value of the target vehicle's heading angle change information is greater than the heading angle change threshold, then the part exceeding the threshold will be attenuated, the attenuation threshold will be determined, and then the heading angle information of the target vehicle at the current moment will be corrected based on the heading angle information of the previous moment and the attenuation threshold.

[0110] In one embodiment, such as Figure 6 As shown, based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold, the heading angle information of the target vehicle at the current moment is corrected, including the following steps:

[0111] S601, if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is greater than 0, then the heading angle correction information of the target vehicle is determined based on the ratio between the heading angle change information and the heading angle change threshold and the heading angle change threshold.

[0112] If the absolute value of the heading angle change information is greater than the heading angle change threshold, and the heading angle change information is greater than 0, then the portion exceeding the heading angle change threshold is attenuated to obtain the heading angle correction information of the target vehicle. The attenuation method is as follows:

[0113] Δangle=ang_thres + ang_thres*log10(ang_diff / ang_thres) (3)

[0114] Where Δangle represents the heading angle correction information of the target vehicle, ang_thres represents the heading angle change threshold, and ang_diff represents the heading angle change information of the target vehicle.

[0115] S602, based on the sum of the heading angle information and heading angle correction information of the target vehicle at the previous moment, correct the heading angle information of the target vehicle at the current moment.

[0116] The method for correcting the target vehicle's heading angle at the current moment is to use the sum of the target vehicle's heading angle information and heading angle correction information from the previous moment as the target vehicle's heading angle information at the current moment. This is illustrated in the following formula:

[0117]

[0118] Here, track_angle represents the heading angle of the target vehicle at the current moment, and last_angle represents the heading angle of the target vehicle at the previous moment.

[0119] The aforementioned heading angle correction method, if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is greater than 0, determines the heading angle correction information of the target vehicle based on the ratio between the heading angle change information and the heading angle change threshold, and the heading angle change threshold itself. Then, it corrects the heading angle information of the target vehicle at the current moment based on the sum of the heading angle information and the heading angle correction information of the target vehicle at the previous moment. This method improves the accuracy of the heading angle information of the target vehicle at the current moment by correcting the heading angle information of the target vehicle when the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is greater than 0.

[0120] In one embodiment, such as Figure 7 As shown, based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold, the heading angle information of the target vehicle at the current moment is corrected, including:

[0121] S701, if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is less than 0, then obtain the ratio between the absolute value of the heading angle change information and the heading angle change threshold, and the heading angle change threshold, to determine the heading angle correction information of the target vehicle.

[0122] If the absolute value of the heading angle change information is greater than the heading angle change threshold, and the heading angle change information is less than 0, then the portion exceeding the heading angle change threshold is attenuated to obtain the heading angle correction information of the target vehicle. The attenuation method is as follows:

[0123] Δangle=ang_thres+ang_thres*log10(|ang_diff| / ang_thres) (5)

[0124] Where Δangle represents the heading angle correction information of the target vehicle, ang_thres represents the heading angle change threshold, and ang_diff represents the heading angle change information of the target vehicle.

[0125] S702, based on the difference between the heading angle information and the heading angle correction information of the target vehicle at the previous moment, corrects the heading angle information of the target vehicle at the current moment.

[0126] The method for correcting the target vehicle's heading angle at the current moment, based on the difference between the target vehicle's heading angle information and its heading angle correction information at the previous moment, is to determine the target vehicle's heading angle information at the current moment by summing the target vehicle's heading angle information and its heading angle correction information at the previous moment. This is illustrated in the following formula:

[0127]

[0128] Here, track_angle represents the heading angle of the target vehicle at the current moment, and last_angle represents the heading angle of the target vehicle at the previous moment.

[0129] The aforementioned heading angle correction method, if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is less than 0, obtains the ratio between the absolute value of the heading angle change information and the heading angle change threshold, along with the heading angle change threshold, to determine the heading angle correction information for the target vehicle. Then, based on the difference between the target vehicle's heading angle information at the previous moment and the heading angle correction information, the heading angle information of the target vehicle at the current moment is corrected. In this method, correcting the target vehicle's heading angle information at the current moment when the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is less than 0 improves the accuracy of the target vehicle's heading angle information at the current moment.

[0130] The above embodiments all correct the heading angle information of the target vehicle at the current moment based on the current driving state of the target vehicle. The following embodiment illustrates how to determine the current driving state of the target vehicle. In one embodiment, as shown... Figure 8 As shown, this embodiment includes the following steps:

[0131] S801, obtain the position coordinates of the target vehicle at multiple consecutive time points.

[0132] The current driving status of the target vehicle is determined based on its historical location coordinate information. The historical location coordinate information can be the location coordinate information of the target vehicle at multiple consecutive moments, which are the multiple consecutive moments before the current moment, including the current moment.

[0133] One way to obtain the location coordinates of a target vehicle at multiple consecutive moments is to collect sensing data of the target vehicle from sensing devices at multiple consecutive moments, and then detect the sensing data to obtain the location coordinates of the target vehicle at multiple consecutive moments.

[0134] S802, determine the speed information of the target vehicle at multiple consecutive time points based on the position coordinates of the target vehicle at multiple consecutive time points.

[0135] Then, based on the target vehicle's position coordinates at multiple consecutive moments, the speed information at adjacent moments is calculated. For example, based on the target vehicle's position coordinates at the previous moment and its position coordinates at the current moment, the speed information of the target vehicle at the current moment is determined. Using this method, multiple speed information of the target vehicle at consecutive moments is calculated.

[0136] S803 determines the current driving status of the target vehicle based on its speed information at multiple consecutive moments.

[0137] Based on the speed information of the target vehicle at multiple consecutive moments, the current driving status of the target vehicle is determined. It should be noted that if the number of historical data collected for the target vehicle is less than the preset number, the heading angle information of the target vehicle at the current moment will not be corrected.

[0138] For example, if there are fewer than 10 historical speed records for the target vehicle, the heading angle information of the target vehicle at the current moment will not be corrected, and the current driving status of the target vehicle can be determined based on the speed information of the target vehicle at the next 5 consecutive moments.

[0139] In one embodiment, such as Figure 9 As shown, the current driving state of the target vehicle is determined based on its speed information at multiple consecutive moments, including the following steps:

[0140] S901, if the speed information of the target vehicle is less than the preset speed threshold at multiple consecutive moments, then the current driving state of the target vehicle is determined to be a stopped state.

[0141] If the speed of the target vehicle is less than the preset speed threshold at multiple consecutive moments, the target vehicle is considered to be in a stopped state.

[0142] The preset speed threshold can be 0.1 m / s.

[0143] S902, otherwise, determine the current driving state of the target vehicle as the driving state.

[0144] If the target vehicle's speed information is greater than or equal to a preset speed threshold at multiple consecutive moments, then the target vehicle's current driving state is determined to be a driving state.

[0145] The aforementioned heading angle correction method acquires the position coordinates of the target vehicle at multiple consecutive moments, determines the vehicle's speed at those same moments, and then determines the vehicle's current driving state based on its speed at those same moments. This method, by comprehensively considering the speed information at multiple moments to determine the target vehicle's current driving state, ensures the accuracy of the determined current driving state and thus improves the accuracy of correcting the target vehicle's heading angle information at the current moment.

[0146] In one embodiment, such as Figure 10 As shown, this embodiment includes the following steps:

[0147] S1001, Calculate the change in heading angle of the target vehicle between two adjacent frames based on the target vehicle's position coordinates.

[0148] S1002, determine whether the historical data of the target vehicle is greater than 10 records. If it is, proceed to step S1003; otherwise, do nothing.

[0149] S1003, determine the heading angle change threshold based on the speed and type of the target vehicle.

[0150] S1004, Based on the historical location coordinates of the target vehicle, determine the speed information of the target vehicle for the latest 5 consecutive frames.

[0151] S1005, if the speed information of the target vehicle in the latest 5 consecutive frames is less than 0.1m / s, then the target vehicle is determined to be in a parked state, and step S1006 is executed; otherwise, the target vehicle is determined to be in a driving state, and step S1008 is executed.

[0152] S1006: Determine whether the absolute value of the change in heading angle is greater than the heading angle change threshold. If it is greater, proceed to step S1007; otherwise, do nothing.

[0153] S1007, determine the heading angle of the previous frame as the heading angle of the target vehicle in the current frame.

[0154] S1008, determine whether the absolute value of the change in heading angle is greater than the heading angle change threshold. If it is greater, proceed to step S1009.

[0155] S1009, determine whether the change in heading angle is greater than 0. If it is, proceed to step S1010; otherwise, proceed to step S1011.

[0156] S1010, Current frame heading angle = Previous frame heading angle + Heading angle change threshold + Heading angle change threshold * log10 (Heading angle change / Heading angle change threshold)

[0157] S1011, Current frame heading angle = Previous frame heading angle - Heading angle change threshold - Heading angle change threshold * log10 (absolute value of heading angle change / heading angle change threshold).

[0158] S1012, End.

[0159] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0160] Based on the same inventive concept, this application also provides a heading angle correction device for implementing the heading angle correction method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more heading angle correction device embodiments provided below can be found in the limitations of the heading angle correction method described above, and will not be repeated here.

[0161] In one embodiment, such as Figure 11 As shown, a heading angle correction device 1100 is provided, including: an acquisition module 1101, a determination module 1102, and a correction module 1103, wherein:

[0162] The acquisition module 1101 is used to acquire the heading angle information of the target vehicle at the previous moment and the heading angle information at the current moment;

[0163] The determination module 1102 is used to determine the heading angle change information of the target vehicle based on the heading angle information of the previous moment and the heading angle information of the current moment;

[0164] The correction module 1103 is used to correct the heading angle information of the target vehicle at the current moment based on the target vehicle's current driving status and heading angle change information.

[0165] In one embodiment, the correction module 1103 includes:

[0166] The acquisition unit is used to acquire the heading angle change threshold;

[0167] The correction unit is used to correct the heading angle information of the target vehicle at the current moment based on the target vehicle's current driving status, heading angle change information, and heading angle change threshold.

[0168] In one embodiment, the acquisition unit includes:

[0169] The acquisition sub-unit is used to acquire the target vehicle's speed information and vehicle type at the current moment;

[0170] The first determining subunit is used to determine the heading angle change threshold based on speed information and vehicle type; there is a one-to-one correspondence between speed information, vehicle type and heading angle change threshold.

[0171] In one embodiment, the correction unit includes:

[0172] The first correction subunit is used to correct the heading angle information of the target vehicle at the current moment to the heading angle information of the target vehicle at the previous moment if the current driving state of the target vehicle is a stopped state and the absolute value of the heading angle change information is greater than the heading angle change threshold.

[0173] In one embodiment, the correction unit includes:

[0174] The second correction subunit is used to correct the heading angle information of the target vehicle at the current moment based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold if the current driving state of the target vehicle is driving state.

[0175] In one embodiment, the second correction subunit includes:

[0176] The second determining subunit is used to determine the heading angle correction information of the target vehicle based on the ratio between the heading angle change information and the heading angle change threshold and the heading angle change threshold if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is greater than 0.

[0177] The third correction subunit is used to correct the heading angle information of the target vehicle at the current moment based on the sum of the heading angle information and the heading angle correction information of the target vehicle at the previous moment.

[0178] In one embodiment, the second correction subunit includes:

[0179] The third determining subunit is used to obtain the ratio between the absolute value of the heading angle change information and the heading angle change threshold and the heading angle change threshold, and to determine the heading angle correction information of the target vehicle if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is less than 0.

[0180] The fourth correction subunit is used to correct the heading angle information of the target vehicle at the current moment based on the difference between the heading angle information and the heading angle correction information of the target vehicle at the previous moment.

[0181] In one embodiment, the device 1100 further includes:

[0182] The location acquisition module is used to acquire the location coordinates of the target vehicle at multiple consecutive moments.

[0183] The speed determination module is used to determine the speed information of the target vehicle at multiple consecutive time points based on the position coordinate information of the target vehicle at multiple consecutive time points.

[0184] The driving status determination module is used to determine the current driving status of the target vehicle based on the speed information of the target vehicle at multiple consecutive moments.

[0185] In one embodiment, the driving status determination module includes:

[0186] The first determining unit is used to determine the current driving state of the target vehicle as a stopped state if the speed information of the target vehicle is less than a preset speed threshold at multiple consecutive moments.

[0187] The second determining unit is used to determine the current driving state of the target vehicle as a driving state if otherwise.

[0188] In one embodiment, the acquisition module 1101 includes:

[0189] The location acquisition unit is used to acquire the location coordinates of the target vehicle at the previous moment and the location coordinates at the current moment.

[0190] The third determining unit is used to determine the heading angle information of the target vehicle at the current moment based on the position coordinate information of the target vehicle at the previous moment and the position coordinate information at the current moment.

[0191] Each module in the aforementioned heading angle correction device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0192] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 12As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores heading angle correction data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a heading angle correction method.

[0193] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0194] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0195] The implementation principles and technical effects of each step in this embodiment are similar to those of the heading angle correction method described above, and will not be repeated here.

[0196] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0197] The implementation principles and technical effects of each step in this embodiment when the computer program is executed by the processor are similar to those of the heading angle correction method described above, and will not be repeated here.

[0198] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0199] The implementation principles and technical effects of each step in this embodiment when the computer program is executed by the processor are similar to those of the heading angle correction method described above, and will not be repeated here.

[0200] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0201] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0202] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0203] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for correcting heading angle, characterized in that, The method includes: Obtain the heading angle information of the target vehicle at the previous moment and at the current moment; Based on the heading angle information of the previous moment and the heading angle information of the current moment, determine the heading angle change information of the target vehicle; Based on the current driving state of the target vehicle and the heading angle change information, the heading angle information of the target vehicle at the current moment is corrected, including: A heading angle change threshold is obtained. When the target vehicle is currently in a driving state, if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is greater than 0, the heading angle correction information of the target vehicle is determined based on the ratio between the heading angle change information and the heading angle change threshold and the heading angle change threshold. The heading angle information of the target vehicle at the current moment is corrected based on the sum of the heading angle information of the target vehicle at the previous moment and the heading angle correction information. The heading angle change threshold is determined based on the vehicle speed and type of the target vehicle.

2. The method according to claim 1, characterized in that, The acquisition of the heading angle change threshold includes: Obtain the speed information of the target vehicle at the current moment and the vehicle type of the target vehicle; The heading angle change threshold is determined based on the speed information and the vehicle type; there is a one-to-one correspondence between the speed information, the vehicle type, and the heading angle change threshold.

3. The method according to claim 2, characterized in that, The step of correcting the heading angle information of the target vehicle at the current moment based on the current driving state of the target vehicle, the heading angle change information, and the heading angle change threshold includes: If the target vehicle is currently in a parked state, and the absolute value of the heading angle change information is greater than the heading angle change threshold, then the heading angle information of the target vehicle at the current moment is corrected to the heading angle information of the target vehicle at the previous moment.

4. The method according to claim 1, characterized in that, The step of correcting the heading angle information of the target vehicle at the current moment based on the relationship between the absolute value of the heading angle change information and the heading angle change threshold includes: If the absolute value of the heading angle change information is greater than the heading angle change threshold, and the heading angle change information is less than 0, then the ratio between the absolute value of the heading angle change information and the heading angle change threshold, and the heading angle change threshold, are obtained to determine the heading angle correction information of the target vehicle. Based on the difference between the heading angle information of the target vehicle at the previous moment and the heading angle correction information, the heading angle information of the target vehicle at the current moment is corrected.

5. The method according to claim 1 or 2, characterized in that, The method further includes: Obtain the position coordinates of the target vehicle at multiple consecutive time points; Based on the position coordinates of the target vehicle at multiple consecutive moments, determine the speed information of the target vehicle at multiple consecutive moments; The current driving state of the target vehicle is determined based on its speed information at multiple consecutive moments.

6. The method according to claim 5, characterized in that, Determining the current driving state of the target vehicle based on its speed information at multiple consecutive moments includes: If the speed information of the target vehicle is less than a preset speed threshold at multiple consecutive moments, then the current driving state of the target vehicle is determined to be a stopped state. Otherwise, the current driving state of the target vehicle is determined to be the driving state.

7. The method according to claim 1 or 2, characterized in that, Obtaining the heading angle information of the target vehicle at the current moment includes: Obtain the position coordinates of the target vehicle at the previous moment and at the current moment; Based on the target vehicle's position coordinates at the previous moment and its position coordinates at the current moment, the heading angle of the target vehicle at the current moment is determined.

8. A heading angle correction device, characterized in that, The device includes: The acquisition module is used to acquire the heading angle information of the target vehicle at the previous moment and the heading angle information at the current moment; The determination module is used to determine the heading angle change information of the target vehicle based on the heading angle information of the previous moment and the heading angle information of the current moment; The correction module is used to correct the heading angle information of the target vehicle at the current moment based on the current driving state of the target vehicle and the heading angle change information, including: A heading angle change threshold is obtained. When the target vehicle is currently in a driving state, if the absolute value of the heading angle change information is greater than the heading angle change threshold and the heading angle change information is greater than 0, the heading angle correction information of the target vehicle is determined based on the ratio between the heading angle change information and the heading angle change threshold and the heading angle change threshold. The heading angle information of the target vehicle at the current moment is corrected based on the sum of the heading angle information of the target vehicle at the previous moment and the heading angle correction information.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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