A method, apparatus and device for querying a heading angle

Abstract

This specification discloses a method, apparatus, and device for querying heading angles. The solution may include: obtaining the latitude and longitude information of a target vehicle; converting the latitude and longitude information into coordinate information in a relative coordinate system; calculating keyword information based on the coordinate information; querying a hash table based on the keyword information to obtain the heading angle corresponding to the keyword; the heading angle is calculated based on the relative coordinate information of the lane lines corresponding to the latitude and longitude information.

Description

Technical Field

[0001] This application relates to the field of computer data processing technology, and in particular to a method, apparatus and device for querying heading angle. Background Technology

[0002] Current roadside sensing devices mainly include LiDAR, cameras, and millimeter-wave radar. Through sensing algorithms, LiDAR data can be used to obtain target category, location, size, and relatively accurate heading angle information; cameras can obtain accurate target category and approximate location information in pixel space; and millimeter-wave radar can obtain coarse target location information and accurate speed information. In existing technologies, the heading angle needs to be calculated online based on the position of each target, increasing the algorithm's time consumption. Furthermore, due to the complexity of lane markings, there are occasional instances where the queried heading angles are reversed, providing an incorrect standard for heading angle reference. Summary of the Invention

[0003] This specification provides a method, apparatus, and device for querying heading angles to solve the problem that existing methods for querying heading angles result in reversed heading angles.

[0004] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:

[0005] This specification provides an embodiment of a method for querying heading angle, which may include:

[0006] Obtain the latitude and longitude information of the target vehicle;

[0007] The latitude and longitude information is converted into coordinate information in a relative coordinate system;

[0008] Calculate keyword information based on the coordinate information;

[0009] The heading angle corresponding to the keyword is obtained by querying the hash table based on the keyword information; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

[0010] The apparatus for querying heading angle provided in the embodiments of this specification may include:

[0011] The information acquisition module is used to acquire the latitude and longitude information of the target vehicle;

[0012] The coordinate information conversion module is used to convert the latitude and longitude information into coordinate information in a relative coordinate system;

[0013] The keyword information calculation module is used to calculate keyword information based on the coordinate information.

[0014] The heading angle reference value query module is used to query a hash table based on the keyword information to obtain the heading angle corresponding to the keyword; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

[0015] This specification provides an embodiment of a device for querying heading angles, which may include:

[0016] At least one processor; and,

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0019] Obtain the latitude and longitude information of the target vehicle;

[0020] The latitude and longitude information is converted into coordinate information in a relative coordinate system;

[0021] Calculate keyword information based on the coordinate information;

[0022] The heading angle corresponding to the keyword is obtained by querying the hash table based on the keyword information; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

[0023] At least one embodiment in this specification can achieve the following beneficial effects: by acquiring the latitude and longitude information of the target vehicle; converting the latitude and longitude information into coordinate information in a relative coordinate system; calculating keyword information based on the coordinate information; querying a hash table based on the keyword information to obtain the heading angle corresponding to the keyword; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information. This makes the heading angle query more accurate. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall scheme architecture of a method for querying heading angle provided in the embodiments of this specification in a practical application scenario;

[0026] Figure 2This is a flowchart illustrating a method for querying heading angle provided in an embodiment of this specification;

[0027] Figure 3 This is a schematic diagram illustrating a method for determining heading angle based on lane lines, provided in an embodiment of this specification.

[0028] Figure 4 This is a schematic diagram of the structure of a device for querying heading angle provided in the embodiments of this specification;

[0029] Figure 5 This is a schematic diagram of the structure of a device for querying heading angle provided in the embodiments of this specification. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0031] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0032] In existing technologies, the heading angle needs to be calculated online based on the position of each target, which increases the time consumption of the algorithm. Furthermore, due to the complexity of lane lines, there are occasional instances where the queried heading angles are reversed, providing an incorrect standard for the reference of the heading angle.

[0033] To address the shortcomings of existing technologies, this solution provides the following embodiments:

[0034] Figure 1 This is a schematic diagram of the overall architecture of a method for querying heading angle in an embodiment of this specification in a practical application scenario.

[0035] like Figure 1As shown, the scheme mainly includes a roadside sensing device 1 and a server 2. In practical applications, the roadside sensing device 1 can collect relevant information about the sensed target, including the target's type, location, size, and speed. The server 2 receives the sensed target information collected by the roadside sensing device 1. The server 2 can calculate corresponding keyword information based on the target's location information. The server 2 can then query a hash table based on the calculated keyword information to obtain the heading angle information corresponding to the keyword, providing more accurate data for the heading angle reference and thus reducing the possibility of inaccurate heading angle queries.

[0036] Figure 2 This is a flowchart illustrating a method for querying heading angle provided in an embodiment of this specification. From a programming perspective, the entity executing the process can be a program hosted on an application server or an application client.

[0037] like Figure 2 As shown, the process may include the following steps:

[0038] Step 202: Obtain the latitude and longitude information of the target vehicle.

[0039] In the embodiments of this specification, the target vehicle can be the vehicle whose heading angle is to be queried, or it can be a vehicle sensed within a certain range. The latitude and longitude of the target vehicle can be acquired at a certain frequency, such as once every 100ms or even less, in order to obtain the latitude and longitude information of the target vehicle in a timely manner, thereby obtaining a more accurate value and making subsequent calculations more precise.

[0040] Step 204: Convert the latitude and longitude information into coordinate information in a relative coordinate system.

[0041] In the embodiments of this specification, after obtaining latitude and longitude information, the server can first convert the latitude and longitude information into coordinate information in a relative coordinate system with the roadside sensing device as the origin, thereby speeding up the calculation speed and the speed of querying the heading angle.

[0042] Step 206: Calculate keyword information based on the coordinate information.

[0043] In the embodiments of this specification, coordinate information can be converted into keyword information according to a formula, and heading angle information can be quickly and accurately retrieved using the keyword information.

[0044] Step 208: Query the hash table based on the keyword information to obtain the heading angle corresponding to the keyword; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

[0045] In the embodiments of this specification, the hash table may include keyword information and heading angle information, wherein the keyword information and heading angle information are stored correspondingly so that the heading angle information can be obtained quickly and accurately by querying the keyword information and obtaining the heading angle information corresponding to the keyword, thereby enabling quick querying of the heading angle reference information corresponding to the current position of the vehicle.

[0046] In the embodiments described in this specification, the heading angle information is calculated based on the lane line corresponding to the lane where the vehicle is currently located. In practical applications, the heading angle information can be pre-calculated based on the latitude and longitude information contained in the lane line information. This heading angle information can be stored as a reference value to provide an initial value for calculating the vehicle's heading angle, thus accelerating the calculation process. It is understood that since a lane line is a straight line within a certain range, the heading angle information calculated from the lane line can be the heading angle information corresponding to a specific lane area.

[0047] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification may be interchanged according to actual needs, or some steps may be omitted or deleted.

[0048] Figure 2 The method described above obtains the latitude and longitude information of the target vehicle; converts this information into coordinates in a relative coordinate system; calculates keyword information based on these coordinates; and then queries a hash table to obtain the heading angle corresponding to the keyword. The heading angle is calculated based on the relative coordinates of the lane lines corresponding to the latitude and longitude information. This allows for quick retrieval of the heading angle information corresponding to the vehicle's current position from the hash table based on the keyword information, improving the accuracy of the heading angle query.

[0049] based on Figure 2 In addition to the method described herein, this specification also provides some specific implementation methods of this method, which will be described below.

[0050] Optionally, the acquisition of the latitude and longitude information of the target vehicle described in the embodiments of this specification may specifically include:

[0051] The latitude and longitude information of the target vehicle is collected using roadside sensing equipment.

[0052] In the embodiments of this specification, the roadside sensing device can collect vehicle information within a certain area. The vehicle information collected by the roadside sensing device may include vehicle size information, vehicle speed information, vehicle location information, and vehicle type information. The vehicle location information collected by the roadside sensing device may be the vehicle's latitude and longitude. The roadside sensing device can send the latitude and longitude information of the detected target vehicle to a server. The server processes the latitude and longitude information, retrieves the heading angle information corresponding to the target vehicle's current location, and feeds back the heading angle information to the roadside sensing device. The vehicle's built-in positioning device can also locate the vehicle's position information, thereby obtaining the vehicle's latitude and longitude information.

[0053] To facilitate the query of heading angle information, the conversion of the latitude and longitude information into coordinate information in a relative coordinate system, as described in the embodiments of this specification, may specifically include:

[0054] Acquire the location information of roadside sensing devices;

[0055] A relative coordinate system is established with the location information as the origin; the relative coordinate system has the east direction as the positive horizontal axis and the north direction as the positive vertical axis.

[0056] The latitude and longitude information is converted into coordinate information in the relative coordinate system.

[0057] In the embodiments of this specification, the roadside sensing device that uploaded the target vehicle information can be determined based on the target vehicle information uploaded by the roadside sensing device. Then, the location information of the roadside sensing device can be obtained through a database query. This location information can be specific latitude and longitude information. According to the first formula x = (lon - lon) base The formula y = 111319.49079327 * cos(lat * 0.01745329) converts the longitude information of the target vehicle into the horizontal coordinate information in a relative coordinate system with the location of the roadside sensing device as the origin. According to the second formula y = (lat - lat) base The formula 110946.25761656 converts the latitude information of the target vehicle into the ordinate information in a relative coordinate system with the location of the roadside sensing device as the origin. In this formula, x can be the x-coordinate value corresponding to the longitude information of the target vehicle in the relative coordinate system; lon can be the longitude information of the target vehicle to be converted; lon... base It can be the longitude information of the roadside sensing device; lat can be the latitude information of the target vehicle to be converted. In the second formula, y can be the ordinate y-value corresponding to the latitude information of the target vehicle in the relative coordinate system; lat baseThis can be the latitude information of roadside sensing devices. Based on the first and second formulas, the latitude and longitude information uploaded by the target vehicle at any given time can be converted into coordinate information in a relative coordinate system with the location of the roadside sensing device as the origin, east as the positive horizontal axis, and north as the positive vertical axis. This speeds up calculations and improves the speed of querying heading angles.

[0058] To make heading angle queries more accurate, the calculation of keyword information based on the coordinate information described in the embodiments of this specification may specifically include:

[0059] The corresponding bird's-eye view information is determined based on the coordinate information; the bird's-eye view information includes at least the relative coordinate information of the four vertices that constitute the bird's-eye view.

[0060] The relative coordinate information of the target vehicle is converted into pixel coordinate information of the bird's-eye view based on the relative coordinate information of the four vertices.

[0061] The keyword information is calculated based on the pixel coordinate information.

[0062] In the embodiments described in this specification, the server can query the size of the corresponding area based on the coordinates or latitude and longitude information of the target vehicle, and then obtain the corresponding bird's-eye view information for that area. This bird's-eye view information includes lane information for multiple lanes within the area, as well as the relative coordinates of the four vertices of the bird's-eye view, which can be understood as the four vertices constituting the size of the area. It is understood that vehicle data within this area can be sensed by the same roadside sensing device.

[0063] In the embodiments of this specification, coordinate information can be converted into pixel coordinate information corresponding to the bird's-eye view according to a formula. The third formula (pixel) can be used... x =floor(xx) min *pixel2dist converts the x-coordinate of the target vehicle in the relative coordinate system into pixel coordinates in the width direction of the bird's-eye view. This can be done according to the fourth formula. y = -1*floor(yy) min The formula `*pixel2dist+height` converts the target vehicle's vertical coordinate in the relative coordinate system into pixel coordinates in the height direction of the bird's-eye view. Specifically, the `pixel` in the third formula... x This can be pixel coordinate information corresponding to the width direction of the bird's-eye view; the floor function can represent a function that rounds down, that is, takes values ​​less than or equal to (xx). min The integer value of x; minIt can be the minimum horizontal coordinate information of the four vertices of the bird's-eye view in the relative coordinate system; pixel2dist can be used to represent pixel resolution, for example: a 1m*1m area corresponds to 100 pixels in the bird's-eye view. The pixel in the fourth formula... y This could be pixel coordinate information corresponding to the height direction of the bird's-eye view; y min It can be the minimum ordinate of the four vertices of the bird's-eye view in the relative coordinate system; height can be the height information of the bird's-eye view, which can be calculated using the formula height = ceil[(y max -y min The calculation is performed using `*pixel2dist`, where the `ceil` function can be a rounding function, i.e., rounding to the nearest integer (y). max -y min The smallest integer y max This could be the maximum ordinate of one of the four vertices of a bird's-eye view in a relative coordinate system. Where x... min y min x max and y max This forms the relative coordinate information of the four vertices corresponding to the bird's-eye view area, which can also be understood as being composed of x min y min x max and y max Together they form the area corresponding to the bird's-eye view, where x max This could be the maximum horizontal coordinate of one of the four vertices in the relative coordinate system of the bird's-eye view. Keyword information is calculated based on the obtained pixel coordinates, ensuring the uniqueness of the keyword information and making heading angle queries more accurate.

[0064] To obtain more accurate keyword information, the calculation of keyword information based on the pixel coordinate information described in the embodiments of this specification may specifically include:

[0065] Determine whether the width of the bird's-eye view is greater than the height of the bird's-eye view;

[0066] If the width of the bird's-eye view is greater than the height of the bird's-eye view, then keyword information is calculated based on the width information of the bird's-eye view and the pixel coordinate information;

[0067] If the width of the bird's-eye view is less than or equal to the height of the bird's-eye view, then keyword information is calculated based on the height information of the bird's-eye view and the pixel coordinate information.

[0068] In the embodiments of this specification, the dimensions of the bird's-eye view corresponding to different locations may be different. When calculating keyword information, the keyword information corresponding to the current location of the target vehicle can be obtained by calculating according to the corresponding formula based on the size information of the bird's-eye view. When obtaining the corresponding bird's-eye view information based on the coordinate information of the target vehicle, it can be determined whether the width of the bird's-eye view is greater than the height of the bird's-eye view based on its size information. If the determination result indicates that the width of the bird's-eye view is greater than the height of the bird's-eye view, then the fifth formula haxiIndice = pixel can be used. y +pixel x *width calculates keyword information. In the fifth formula, haxiIndice can represent keyword information; pixel y and pixel x It can be pixel coordinate information calculated based on the third and fourth formulas; width can be the width of the bird's-eye view, width = ceil[(x max -x min [*pixel2dist], where the characters in the formula can have the same or similar physical meaning as the corresponding characters in the above formula. If the judgment result indicates that the width of the bird's-eye view is less than or equal to the height of the bird's-eye view, then the sixth formula haxiIndice = pixel x +pixel y The *height calculation uses keyword information. The physical meaning of the characters in the sixth formula can be the same as or similar to the characters in the formulas above. Keyword information is calculated based on the dimensions in the bird's-eye view, making the keyword calculation more accurate, ensuring the uniqueness of the keywords, and reducing the possibility of errors in heading angle queries.

[0069] To ensure the accuracy of the queried heading angle information, the heading angle described in this embodiment is calculated based on the relative coordinate information of the lane lines corresponding to the latitude and longitude information, and may specifically include:

[0070] Obtain the location information of the target point within the lane area corresponding to the lane line;

[0071] Based on the location information of the target point, determine the information of the first lane line point that is closest to the target point; the information of the first lane line point includes the relative coordinate information of the first lane line point in the relative coordinate system;

[0072] Point indexing is used to obtain the second lane line point located before the first lane line point and the third lane line point located after the first lane line point; the second lane line point and the third lane line point are both located on the same lane line;

[0073] The heading angle of the target point is obtained by performing differential calculation based on the relative coordinate information of the second lane line point and the relative coordinate information of the third lane line point.

[0074] In the embodiments of this specification, the point index can determine the nearest lane line point to the target point based on the information within the lane. A circle with a radius of at least 1 meter is drawn with this lane line point as the center, thus obtaining two intersection points with the lane line. Alternatively, the point index can be used to determine the two nearest lane line points belonging to the same lane line based on the position information of the target point within the lane. The lane line is formed by arranging multiple discrete points according to the calibrated driving direction. The information obtained from the point index for the two lane line points can include the coordinates of the points in the relative coordinate system, the order of the lane line points, and the latitude and longitude of the lane line points. The order of the lane line points can be used to determine the point that is further forward and the point that is further back relative to the driving direction. The heading angle information is obtained by performing a difference calculation based on the relative coordinates and order of the two points. The heading angle can also be calculated by drawing a tangent line to the nearest lane line point to the target point within the lane area and then calculating the heading angle information from this tangent line.

[0075] The embodiment of this specification describes obtaining the heading angle of the target point by performing differential calculation based on the relative coordinate information of the second lane line point and the relative coordinate information of the third lane line point. Specifically, this may include:

[0076] Based on the relative coordinate information of the second lane line point and the relative coordinate information of the third lane line point, a differential calculation is performed to obtain the slope of the lane line length corresponding to the two lane line points;

[0077] The angle corresponding to the slope is calculated using the arctangent function to obtain the heading angle.

[0078] In this embodiment, the difference calculation for two lane line points can be performed using existing formulas. The lane line point that is further forward is used as the second lane line point, and the lane line point that is further backward is used as the third lane line point. This yields the slope information for lane line points of corresponding lengths. Then, the arctangent function is applied to the slope to calculate the corresponding angle information. The relative coordinate system uses north as the positive vertical axis and east as the positive horizontal axis, allowing the determination of the angle between the lane line and the east direction or the lane line and the north direction. The specific axis from which the heading angle is rotated clockwise or counterclockwise can be selected according to the user's preference. Figure 3 This is a schematic diagram illustrating a method for determining heading angle based on lane lines, provided as an embodiment of this specification. Figure 3This can represent a lane area, with the arrow indicating the designated driving direction for that lane area. A target point M is selected within the lane area. A perpendicular line is drawn from M to the nearest lane line, yielding lane line point A, which is closest to the target point M. Based on point indices, lane line points B and C, located before and after lane line point A, are obtained. Lane line points A, B, and C are arranged along the lane driving direction. The latitude and longitude information of lane line points B and C can be converted into coordinates in a relative coordinate system using the first and second formulas. Difference calculations are performed based on the coordinates of lane line points B and C to obtain the slope of the lane line. The angle corresponding to the slope is calculated using the arctangent function. Finally, based on the order of lane line points B and C, the heading angle information corresponding to the final lane area is determined, avoiding discrepancies between the actual and calculated heading angles and improving the accuracy of heading angle calculation.

[0079] In the embodiments of this specification, to avoid the reversal of heading angle calculations, the heading angle can be determined based on the order of the lane line points and the magnitude of the coordinates of the two lane line points. For example, the slope of the lane line is calculated to be 1 using the relative coordinate information of the second and third lane line points. Then, it is determined whether the coordinate value of the second lane line point is greater than the coordinate value of the third lane line point. If the coordinate value of the second lane line point is greater than the coordinate value of the third lane line point, the heading angle is determined to be 45° counterclockwise with the east direction as the original axis; if the coordinate value of the second lane line point is less than the coordinate value of the third lane line point, the heading angle is determined to be 225° counterclockwise with the east direction as the original axis. The heading angle can also be the angle of clockwise rotation with the east direction as the original axis, or it can be the angle of counterclockwise or clockwise rotation with the north direction as the original axis.

[0080] To facilitate the query of heading angle, the method described in the embodiments of this specification may further include:

[0081] A hash table is created based on the key and the heading angle value; each key corresponds uniquely to a heading angle value.

[0082] In the embodiments described in this specification, lane line information can be queried from a database. Lane line information may include lane line identification information, lane line point coordinates, lane line sequence information, and lane line point order information. The server can calculate the heading angle information within a preset lane area based on the lane line information obtained from the database, and then calculate keyword information based on the position information of a point within the lane area. This ensures that a keyword in the hash table built based on the keyword information and heading angle information uniquely corresponds to a heading angle, preventing the same keyword from being obtained at different locations and thus causing heading angle query errors, thereby improving the accuracy of heading angle queries.

[0083] In practical applications, due to lane planning considerations, different locations may have the same heading angle information. To address this, multiple different keywords corresponding to locations with the same heading angle information can be associated and stored together. That is, if multiple different locations have the same heading angle information, the keyword information corresponding to each location can be calculated separately, and the resulting keyword information can be stored along with the heading angle information, ensuring that multiple keywords correspond to one heading angle. This avoids query errors, saves storage space, and reduces resource waste. It's understandable that keywords can be stored in a hash table with a one-to-one correspondence with heading angles, or multiple keywords can be stored in a hash table with one heading angle. A hash table will not show a single keyword corresponding to multiple heading angles.

[0084] In this embodiment, the heading angle information in the hash table can be approximated as the heading angle information of vehicles within the lane area. If the angle between the vehicle's driving direction and the lane line of the lane area is greater than a preset angle, the heading angle information in the hash table can be used as a reference value, combined with the angle between the vehicle's driving direction and the lane line, to calculate the vehicle's current heading angle information, thus speeding up the heading angle calculation. If the angle between the vehicle's driving direction and the lane line of the lane area is less than or equal to a preset angle, the heading angle retrieved from the hash table is used as the vehicle's current heading angle information.

[0085] The above methods can speed up the calculation of heading angles, improve the speed of heading angle lookup, and increase the accuracy of the retrieved heading angles.

[0086] Based on the same idea, embodiments of this specification also provide apparatus corresponding to the above methods. Figure 4 The embodiments provided in this specification correspond to Figure 2 A schematic diagram of a device for querying heading angle. (Example) Figure 4 As shown, the device may include:

[0087] Information acquisition module 402 is used to acquire the latitude and longitude information of the target vehicle;

[0088] The coordinate information conversion module 404 is used to convert the latitude and longitude information into coordinate information in a relative coordinate system;

[0089] Keyword information calculation module 406 is used to calculate keyword information based on the coordinate information;

[0090] The heading angle reference value query module 408 is used to query a hash table based on the keyword information to obtain the heading angle corresponding to the keyword; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

[0091] Based on the same idea, this specification also provides devices corresponding to the above methods in its embodiments.

[0092] Figure 5 The embodiments provided in this specification correspond to Figure 2 A schematic diagram of the structure of a device for querying heading angle. For example... Figure 5 As shown, device 500 may include:

[0093] At least one processor 510; and,

[0094] Memory 530 communicatively connected to the at least one processor; wherein,

[0095] The memory 530 stores instructions 520 that can be executed by the at least one processor 510, the instructions being executed by the at least one processor 510 to enable the at least one processor 510 to:

[0096] Obtain the latitude and longitude information of the target vehicle;

[0097] The latitude and longitude information is converted into coordinate information in a relative coordinate system;

[0098] Calculate keyword information based on the coordinate information;

[0099] The heading angle corresponding to the keyword is obtained by querying the hash table based on the keyword information; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

[0100] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, for... Figure 5 As the device shown is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0101] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0102] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0103] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0104] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0105] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0107] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0109] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0110] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0112] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0113] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of querying a heading angle, characterized by, include: Obtain the latitude and longitude information of the target vehicle; The latitude and longitude information is converted into coordinate information in a relative coordinate system; The keyword information is calculated based on the coordinate information, specifically including: Based on the coordinate information, the corresponding bird's-eye view information is determined. The bird's-eye view information includes at least the relative coordinate information of the four vertices that constitute the bird's-eye view. Based on the relative coordinate information of the four vertices, the relative coordinate information of the target vehicle is converted into the pixel coordinate information of the bird's-eye view. The keyword information is calculated based on the pixel coordinate information; The heading angle corresponding to the keyword is obtained by querying the hash table based on the keyword information; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

2. The method of claim 1, wherein, The acquisition of the latitude and longitude information of the target vehicle specifically includes: The latitude and longitude information of the target vehicle is collected using roadside sensing equipment.

3. The method according to claim 1, characterized in that, The process of converting the latitude and longitude information into coordinate information in a relative coordinate system specifically includes: Acquire the location information of roadside sensing devices; A relative coordinate system is established with the location information as the origin; the relative coordinate system has the east direction as the positive horizontal axis and the north direction as the positive vertical axis. The latitude and longitude information is converted into coordinate information in the relative coordinate system.

4. The method according to claim 1, characterized in that, The calculation of the keyword information based on the pixel coordinate information specifically includes: Determine whether the width of the bird's-eye view is greater than the height of the bird's-eye view; If the width of the bird's-eye view is greater than the height of the bird's-eye view, then keyword information is calculated based on the width information of the bird's-eye view and the pixel coordinate information; If the width of the bird's-eye view is less than or equal to the height of the bird's-eye view, then keyword information is calculated based on the height information of the bird's-eye view and the pixel coordinate information.

5. The method according to claim 1, characterized in that, The heading angle is calculated based on the relative coordinates of the lane lines corresponding to the latitude and longitude information, specifically including: Obtain the location information of the target point within the lane area corresponding to the lane line; Based on the location information of the target point, determine the information of the first lane line point that is closest to the target point; the information of the first lane line point includes the relative coordinate information of the first lane line point in the relative coordinate system; Point indexing is used to obtain the second lane line point located before the first lane line point and the third lane line point located after the first lane line point; the second lane line point and the third lane line point are both located on the same lane line; The heading angle of the target point is obtained by performing differential calculation based on the relative coordinate information of the second lane line point and the relative coordinate information of the third lane line point.

6. The method according to claim 5, characterized in that, The step of performing a differential calculation based on the relative coordinate information of the second lane line point and the relative coordinate information of the third lane line point to obtain the heading angle of the target point specifically includes: Based on the relative coordinate information of the second lane line point and the relative coordinate information of the third lane line point, a differential calculation is performed to obtain the slope of the lane line length corresponding to the two lane line points; The angle corresponding to the slope is calculated using the arctangent function to obtain the heading angle.

7. The method according to claim 1, characterized in that, The method further includes: A hash table is created based on the key and the heading angle value; each key corresponds uniquely to a heading angle value.

8. A device for querying heading angle, characterized in that, include: The information acquisition module is used to acquire the latitude and longitude information of the target vehicle; The coordinate information conversion module is used to convert the latitude and longitude information into coordinate information in a relative coordinate system; The keyword information calculation module is used to calculate keyword information based on the coordinate information, specifically for: Based on the coordinate information, the corresponding bird's-eye view information is determined. The bird's-eye view information includes at least the relative coordinate information of the four vertices that constitute the bird's-eye view. Based on the relative coordinate information of the four vertices, the relative coordinate information of the target vehicle is converted into the pixel coordinate information of the bird's-eye view. The keyword information is calculated based on the pixel coordinate information; The heading angle reference value query module is used to query a hash table based on the keyword information to obtain the heading angle corresponding to the keyword; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

9. A device for querying heading angle, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Obtain the latitude and longitude information of the target vehicle; The latitude and longitude information is converted into coordinate information in a relative coordinate system; The keyword information is calculated based on the coordinate information, specifically including: Based on the coordinate information, the corresponding bird's-eye view information is determined. The bird's-eye view information includes at least the relative coordinate information of the four vertices that constitute the bird's-eye view. Based on the relative coordinate information of the four vertices, the relative coordinate information of the target vehicle is converted into the pixel coordinate information of the bird's-eye view. The keyword information is calculated based on the pixel coordinate information; The heading angle corresponding to the keyword is obtained by querying the hash table based on the keyword information; the heading angle is calculated based on the relative coordinate information of the lane line corresponding to the latitude and longitude information.

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