Vehicle heading angle processing method and device, electronic equipment and autonomous vehicle
By locking the heading angle when the autonomous vehicle is at low speed and unlocking it when the speed recovers, the positioning drift problem at low speeds is solved, improving vehicle driving safety and road safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
- Filing Date
- 2022-11-28
- Publication Date
- 2026-05-29
AI Technical Summary
When an autonomous vehicle is driving at low speed, its own positioning may drift, resulting in inaccurate heading angle positioning and affecting driving decision-making and control.
When the vehicle speed decreases to less than a first speed threshold, the most recently stored heading angle is latched, and when the speed recovers to greater than or equal to a second speed threshold, the heading angle is unlocked, allowing the heading angle to be updated according to the vehicle status.
It effectively avoids the problem of inaccurate heading angle positioning at low speeds, improves vehicle driving safety and road safety, and prevents abnormal deflection caused by heading angle drift.
Smart Images
Figure CN115923814B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of vehicle control technology, and more particularly to the fields of autonomous driving and intelligent transportation technology, specifically to a vehicle heading angle processing method, device, electronic device, and autonomous vehicle. Background Technology
[0002] With the development of vehicle technology, autonomous vehicles have gradually become one of the key areas of vehicle research and development. Currently, during the operation of autonomous vehicles, the heading angle is mainly used to determine the vehicle's direction of travel and participate in autonomous driving decision-making and control. However, the heading angle is closely related to the vehicle's speed. When an autonomous vehicle is traveling at low speed, due to the reduced speed, the vehicle's self-positioning may drift. Summary of the Invention
[0003] This disclosure provides a method, apparatus, electronic device, and autonomous vehicle for processing vehicle heading angle.
[0004] According to a first aspect of this disclosure, a method for processing vehicle heading angle is provided, comprising:
[0005] When the speed of the target vehicle decreases to less than a first speed threshold, the first heading angle when the speed of the target vehicle is greater than or equal to the first speed threshold is obtained. The first heading angle is the most recent heading angle that has been stored.
[0006] The first heading angle is used as the heading angle of the target vehicle, and the heading angle of the target vehicle is controlled to be in a latched state.
[0007] If the speed of the target vehicle is greater than or equal to the second speed threshold, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state.
[0008] Wherein, the first speed threshold is less than the second speed threshold, the heading angle of the target vehicle does not change in the latched state, and the heading angle of the target vehicle can be updated based on the driving state of the target vehicle in the unlocked state.
[0009] According to a second aspect of this disclosure, a vehicle heading angle processing device is provided, comprising:
[0010] The acquisition module is used to acquire a first heading angle when the target vehicle's speed is greater than or equal to the first speed threshold when the target vehicle's speed decreases to less than the first speed threshold. The first heading angle is the most recent heading angle that has been stored.
[0011] A latching module is used to take the first heading angle as the heading angle of the target vehicle and control the heading angle of the target vehicle to be in a latched state.
[0012] The unlocking module is used to control the heading angle of the target vehicle to switch from the latched state to the unlocked state when the driving speed of the target vehicle is greater than or equal to the second speed threshold.
[0013] Wherein, the first speed threshold is less than the second speed threshold, the heading angle of the target vehicle does not change in the latched state, and the heading angle of the target vehicle can be updated based on the driving state of the target vehicle in the unlocked state.
[0014] According to a third aspect of this disclosure, an electronic device is provided, comprising:
[0015] At least one processor; and
[0016] A memory communicatively connected to the at least one processor; wherein,
[0017] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect.
[0018] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first aspect.
[0019] According to a fifth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method described in the first aspect.
[0020] According to a sixth aspect of this disclosure, an autonomous vehicle is provided, configured to perform the method as described in the first aspect.
[0021] The solution provided in this disclosure can effectively solve the problem of vehicle positioning drift during low-speed driving, which can effectively reduce the impact of inaccurate vehicle heading angle positioning on vehicle driving decisions and improve vehicle driving safety and road safety.
[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description
[0023] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:
[0024] Figure 1 This is a flowchart of a vehicle heading angle processing method provided in an embodiment of this disclosure;
[0025] Figure 2 This is a flowchart of another vehicle heading angle processing method provided in this embodiment of the disclosure;
[0026] Figure 3 This is a structural diagram of a vehicle heading angle processing device provided in an embodiment of this disclosure;
[0027] Figure 4 This is a block diagram of an electronic device used to implement the vehicle heading angle processing method of the embodiments of this disclosure. Detailed Implementation
[0028] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.
[0029] Please refer to Figure 1 , Figure 1 This is a flowchart of a vehicle heading angle processing method provided in an embodiment of this disclosure. Figure 1 As shown, the method includes the following steps:
[0030] Step S101: When the speed of the target vehicle decreases to less than the first speed threshold, obtain the first heading angle when the speed of the target vehicle is greater than or equal to the first speed threshold. The first heading angle is the most recent heading angle that has been stored.
[0031] It should be noted that the method provided in this disclosure can be applied to vehicles, such as autonomous vehicles, including vehicles with autonomous driving functions; wherein, the target vehicle can refer to any vehicle. It is understood that during vehicle operation, the heading angle is needed to determine the vehicle's direction of travel and to participate in driving decision-making and control.
[0032] In this embodiment of the disclosure, when the target vehicle is in motion, the target vehicle can obtain its own speed in real time; if the speed of the target vehicle decreases to less than a first speed threshold, the last heading angle stored before the speed of the target vehicle decreased to less than the first speed threshold is obtained, that is, the first heading angle, which is also the most recent stored heading angle at the current time.
[0033] It should be noted that the first speed threshold can be a pre-set and stored speed value, such as 10 km / h. Alternatively, the first speed threshold can be an empirical value derived based on the historical driving speed of the target vehicle; or, the first speed threshold can be a speed value automatically set based on the road conditions of the target vehicle. For example, when the vehicle is on a continuous uphill section, the first speed threshold can be a speed value obtained by lowering a base threshold. The first speed threshold can also be obtained in other possible forms, which will not be listed in detail in this embodiment.
[0034] Step S102: Use the first heading angle as the heading angle of the target vehicle, and control the heading angle of the target vehicle to be in a latched state.
[0035] In this embodiment, if the target vehicle's speed decreases to below a first speed threshold, the last heading angle stored before the target vehicle's speed decreased to below the first speed threshold (i.e., the first heading angle) is used as the target vehicle's heading angle, and the target vehicle's heading angle is locked. In this locked state, the target vehicle's heading angle does not change. That is, after the target vehicle's heading angle is locked, it is no longer updated. In this state, even if the target vehicle's speed continues to decrease, or if the target vehicle brakes suddenly, or if the target vehicle experiences body vibration, the target vehicle's heading angle remains the first heading angle. This avoids the problem of inaccurate heading angle positioning at low speeds, thus preventing inaccurate heading angle positioning from affecting vehicle driving decisions and control. It also prevents the vehicle from sending abnormal heading angles indicating drift or deflection to the surrounding environment, which could affect other vehicles, thereby improving driving safety and road safety.
[0036] Step S103: When the speed of the target vehicle is greater than or equal to the second speed threshold, control the heading angle of the target vehicle to switch from the latched state to the unlocked state.
[0037] Wherein, the first speed threshold is less than the second speed threshold, the heading angle of the target vehicle does not change in the latched state, and the heading angle of the target vehicle can be updated based on the driving state of the target vehicle in the unlocked state.
[0038] Understandably, the target vehicle's speed will change during operation. When the target vehicle's speed is greater than or equal to a second speed threshold, the target vehicle's heading angle is switched from the latched state to the unlocked state. In other words, when the target vehicle's speed increases from less than a first speed threshold to greater than or equal to the second speed threshold, the target vehicle's heading angle is unlocked, and the heading angle enters the unlocked state. This means the target vehicle can update its heading angle in real time based on its driving status, preventing the target vehicle's heading angle from remaining in a latched state and affecting the target vehicle's driving decisions.
[0039] It should be noted that the second speed threshold may be a preset and stored speed value. The second speed threshold may be adjusted based on user operation, or it may be automatically adjusted based on the historical driving speed of the target vehicle.
[0040] The technical solution provided in this disclosure, when the target vehicle's speed decreases to less than a first speed threshold, uses the most recent heading angle (i.e., the first heading angle) stored before the target vehicle's speed decreased to less than the first speed threshold as the heading angle of the target vehicle, and controls the heading angle of the target vehicle to be in a latched state. This avoids the problem of inaccurate heading angle positioning caused by the vehicle traveling at low speeds, thus preventing the target vehicle's driving decision control from being affected by inaccurate heading angle positioning. It also prevents the vehicle from sending abnormal heading angles indicating drifting or deflection to the surrounding environment, which could affect other vehicles in the surrounding environment. When the target vehicle's speed increases to greater than or equal to a second speed threshold, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state. This allows the heading angle of the target vehicle to be updated based on the target vehicle's driving state, thus preventing the target vehicle's heading angle from remaining in a latched state and affecting the target vehicle's driving decision.
[0041] Wherein, the first speed threshold is less than the second speed threshold. During the process of the target vehicle increasing its speed from less than the first speed threshold to the second speed threshold, when the target vehicle's speed increases to be greater than or equal to the first speed threshold but less than the second speed threshold, the target vehicle's heading angle remains in a latched state. That is, during this process, the target vehicle's heading angle remains the first heading angle. Furthermore, while the target vehicle's heading angle is in a latched state, during the speed increase, the heading angle will only be switched from the latched state to the unlocked state when the target vehicle's speed increases to be greater than or equal to the second speed threshold. This ensures that the vehicle's heading angle is only switched to the unlocked state after the target vehicle's speed reaches a certain level, ensuring the accuracy of the vehicle's heading angle positioning.
[0042] During the process of the target vehicle's speed decreasing, for example, when the target vehicle's speed decreases from the second speed threshold to the first speed threshold, when the target vehicle's speed is less than the second speed threshold but greater than or equal to the first speed threshold, the target vehicle's heading angle is in an unlocked state, that is, the target vehicle's heading angle can be updated according to the target vehicle's driving state.
[0043] Optionally, in this embodiment of the disclosure, controlling the heading angle of the target vehicle to be in a latched state includes:
[0044] Obtain the current first road condition information, and control the heading angle of the target vehicle to be in a latched state based on the first road condition information.
[0045] In this embodiment of the disclosure, when the speed of the target vehicle decreases to less than a first speed threshold, the known heading angle that is closest to the current time and whose speed is greater than or equal to the first speed threshold is taken as the first heading angle, and this first heading angle is used as the heading angle of the target vehicle; furthermore, the current first road condition information of the target vehicle is obtained, and the heading angle of the target vehicle is controlled to be in a latched state based on the first road condition information.
[0046] For example, the first road condition information may be related to the target vehicle's current driving segment, road conditions, and corresponding weather conditions. For instance, if the target vehicle's current driving segment is congested, it indicates that the target vehicle may be traveling at low speeds for a period of time, and the target vehicle's heading angle positioning may be inaccurate. In this case, the target vehicle's heading angle is locked to avoid inaccurate heading angles caused by the target vehicle's low speed.
[0047] In this embodiment of the disclosure, when the speed of the target vehicle decreases to less than the first speed threshold, it is also necessary to combine the current first road condition information of the target vehicle to control the heading angle of the target vehicle to be in a latched state. This makes the control of the heading angle latch of the target vehicle consider both the speed of the target vehicle and the road condition information, which helps to improve the accuracy of the vehicle heading angle positioning.
[0048] Optionally, controlling the heading angle of the target vehicle to be in a latched state based on the first road condition information includes at least one of the following:
[0049] When the target vehicle is currently climbing a slope, the heading angle of the target vehicle is locked.
[0050] When the target vehicle is currently in a congested traffic situation, the heading angle of the target vehicle is locked.
[0051] If the curvature of the road where the target vehicle is located is greater than a preset threshold, the heading angle of the target vehicle is locked.
[0052] When the weather corresponding to the current road conditions of the target vehicle is the preset weather, the heading angle of the target vehicle is locked.
[0053] For example, in one implementation, if the target vehicle's speed decreases to below a first speed threshold, and it is detected that the target vehicle is currently on an uphill section, for example, through an onboard camera on the target vehicle, it indicates that the target vehicle's current speed is unlikely to increase to a higher speed. In this case, the target vehicle's heading angle is locked. In this locked state, the heading angle closest to the current time when the target vehicle's speed is greater than or equal to the first speed threshold is used as the heading angle of the target vehicle in the locked state. This avoids the problem of the target vehicle deviating due to uphill climbing, which affects the accuracy of the heading angle positioning.
[0054] For example, in another implementation, if the target vehicle's speed decreases to below a first speed threshold, and it is detected that the target vehicle is currently in congested traffic—for example, by detecting a large number of vehicles ahead via the vehicle's onboard camera—then it is assumed that the target vehicle is currently in congested traffic. In this case, it is assumed that the target vehicle's speed is likely to remain low for some time and that sudden braking or stopping is likely. To prevent vehicle body vibration from causing a drift in the vehicle's heading angle and resulting in a discrepancy with the actual driving direction, the target vehicle's heading angle is locked. In this locked state, the heading angle closest to the current moment when the target vehicle's speed is greater than or equal to the first speed threshold is used as the target vehicle's heading angle in the locked state. This avoids the drift in the vehicle's heading angle caused by body vibration due to sudden braking or stopping in congested traffic, effectively preventing inaccurate vehicle heading angle positioning.
[0055] Alternatively, in another implementation, if the target vehicle's speed decreases to below a first speed threshold, and the curvature of the road on which the target vehicle is located is detected to be greater than a preset threshold (e.g., detected by the target vehicle's positioning system), it indicates that the target vehicle is traveling on a curve, i.e., turning. To prevent the target vehicle's heading angle from drifting due to the turn, the target vehicle's heading angle is locked, and the heading angle closest to the current moment when the target vehicle's speed is greater than or equal to the first speed threshold is used as the target vehicle's heading angle in the locked state. This avoids heading angle drift caused by the target vehicle traveling at low speed and on a curve, reducing the impact on vehicle positioning.
[0056] Alternatively, in another implementation, if the target vehicle's speed decreases below a first speed threshold, and the current road conditions correspond to preset weather (e.g., rain, snow, hail, smog), it indicates that the vehicle may need to travel at low speeds under these conditions, and that such weather can easily cause drifting or deflection. In this case, the target vehicle's heading angle is latched, and the heading angle closest to the current moment when the target vehicle's speed is greater than or equal to the first speed threshold is used as the latched heading angle. This allows the target vehicle's heading angle to be latched even when it is in preset weather and its speed has decreased below the first speed threshold. This prevents the heading angle from drifting or deflecting due to weather conditions at low speeds, ensuring that the heading angle does not deviate from the actual driving direction and thus improving driving safety.
[0057] It should be noted that in the above embodiments, when the speed of the target vehicle increases to a level greater than or equal to the second speed threshold, the aerial camera of the target vehicle is controlled to switch from a latched state to an unlocked state, that is, the road condition information of the target vehicle is no longer considered, so as to avoid the heading angle of the target vehicle being in a latched state and affecting the driving decision of the target vehicle.
[0058] In this embodiment of the disclosure, controlling the heading angle of the target vehicle to be in a latched state may further include:
[0059] Obtain the first duration during which the target vehicle's speed is less than the first speed threshold;
[0060] If the first duration is longer than the first preset duration, the heading angle of the target vehicle is locked.
[0061] For example, when the target vehicle is in motion, if the target vehicle's speed decreases to below a first speed threshold, and the duration for which its speed is below the first speed threshold (i.e., the first duration) is greater than a first preset duration, meaning the target vehicle's speed is below the first speed threshold for the entire first duration (e.g., the target vehicle is in a congested area), it is assumed that the target vehicle may be in a low-speed driving state for a certain period of time. In this latched state, the target vehicle's heading angle remains unchanged, thus preventing the target vehicle from drifting or deflecting due to prolonged low-speed driving, and avoiding any impact on driving decisions caused by this drift.
[0062] Optionally, controlling the heading angle of the target vehicle to be in a latched state includes:
[0063] Obtain the strength of the current location signal of the target vehicle;
[0064] When the strength of the positioning signal is less than the preset signal strength, the heading angle of the target vehicle is locked.
[0065] In this embodiment of the disclosure, when the target vehicle's speed decreases to below a first speed threshold, the strength of the target vehicle's current positioning signal is further obtained. Optionally, the strength of the positioning signal can be determined by the number of positioning satellites currently connected to the target vehicle. If the strength of the positioning signal is less than a preset signal strength, for example, the preset signal strength is the signal strength when the target vehicle is connected to 4 positioning satellites, and the target vehicle is currently connected to 3 positioning satellites, then it indicates that the strength of the target vehicle's current positioning signal is less than the preset signal strength. For example, if the target vehicle is currently driving through a tunnel, the strength of the target vehicle's positioning signal may decrease, indicating that the positioning accuracy of the target vehicle may not be high at this time, and the heading angle positioning of the target vehicle may not be accurate. In this case, the heading angle of the target vehicle can be controlled to enter a latching state. In this way, the impact of inaccurate heading angle positioning caused by the low strength of the target vehicle's positioning signal on the vehicle's driving decisions can be avoided.
[0066] Further, when the target vehicle's speed is greater than or equal to the second speed threshold, controlling the target vehicle's heading angle to switch from the latched state to the unlocked state includes:
[0067] When the target vehicle's speed is greater than or equal to the second speed threshold and the strength of the target vehicle's positioning signal is greater than or equal to the preset signal strength, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state.
[0068] Understandably, after the target vehicle's heading angle enters a latched state due to its speed being less than a first speed threshold and the positioning signal strength being less than a preset signal strength, if the target vehicle's speed rises to be greater than or equal to a second speed threshold, the current positioning signal strength of the target vehicle is further acquired. If the positioning signal strength is greater than or equal to the preset signal strength, for example, the preset signal strength is the signal strength when the target vehicle is connected to four positioning satellites, if it is detected that the target vehicle is currently connected to four positioning satellites, then it is considered that the current positioning signal strength of the target vehicle is equal to the preset signal strength. It can be considered that the positioning accuracy of the target vehicle can be guaranteed in this case, and the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state. This allows the heading angle of the target vehicle to be updated according to the target vehicle's driving state, that is, it no longer keeps the first heading angle unchanged, but uses its own real-time heading angle information.
[0069] In this embodiment of the disclosure, the heading angle of the target vehicle can be controlled to enter a latched state or switch from a latched state to an unlocked state by combining the driving speed of the target vehicle and the strength of the positioning signal. This can effectively improve the accuracy of the heading angle determination of the target vehicle and avoid the problem of single method and low accuracy caused by controlling the unlocking and latching of the heading angle solely by speed.
[0070] Optionally, the method may further include:
[0071] If the duration during which the target vehicle's speed is less than the third speed threshold is greater than the second preset duration, the first speed threshold is reduced.
[0072] The third speed threshold is greater than the first speed threshold and less than the second speed threshold.
[0073] Understandably, the first speed threshold is less than the second speed threshold, and the target vehicle's speed during operation may fall between the first and second speed thresholds. For example, after the target vehicle's speed drops below the first speed threshold, when the vehicle begins to accelerate, its speed may rise to above the first speed threshold but below the second speed threshold. Alternatively, during a decrease in the target vehicle's speed, its speed may decrease to above the first speed threshold but below the second speed threshold.
[0074] In this embodiment of the disclosure, if the duration for which the target vehicle's speed is greater than the first speed threshold but less than the third speed threshold is greater than the second preset duration, and the third speed threshold is less than the second speed threshold, it can be assumed that the target vehicle may be in a low-speed driving state for a certain period of time. In this case, the first speed threshold can be appropriately reduced, and the target vehicle's speed needs to be reduced to an even lower level before entering the heading angle latching state. In this way, the target vehicle's heading angle will not be latched, meaning that the target vehicle can still update its heading angle in real time when driving at a low speed, avoiding premature latching of the target vehicle's heading angle and affecting the vehicle's driving decisions.
[0075] In addition, in this embodiment of the present disclosure, the first speed threshold can be automatically adjusted based on the driving speed of the target vehicle, so that the control of the heading angle of the target vehicle can better fit the actual driving state of the target vehicle, improve the flexibility of the first speed threshold, and thus improve the flexibility of the control of the heading angle latching state of the target vehicle.
[0076] Please refer to Figure 2 , Figure 2 This is a flowchart of another vehicle heading angle processing method provided in this disclosure embodiment, such as... Figure 2 As shown, the method includes the following steps:
[0077] Step S201: Start the vehicle.
[0078] When the vehicle is started and in motion, it can read the most recent heading angle information stored in the memory and update it in real time.
[0079] Step S202: Determine whether the vehicle speed is lower than the first speed threshold;
[0080] Step S203: If not, use the vehicle's real-time heading angle information;
[0081] Step S204: If yes, the vehicle heading angle is latched, and the vehicle's heading angle remains the previously stored heading angle information;
[0082] The previously stored heading angle information is the last heading angle information saved when the vehicle's speed is greater than or equal to the first speed threshold.
[0083] Step S205: Determine whether the vehicle speed is greater than the second speed threshold;
[0084] If not, the vehicle heading angle is locked, and the vehicle heading angle remains the previously stored heading angle information; if yes, the vehicle heading angle is unlocked, and the real-time vehicle heading angle information is used.
[0085] Step S206: Determine whether the automatic driving function is turned off;
[0086] If not, proceed to step S202;
[0087] Step S207: If yes, then the vehicle heading angle is latched, the vehicle heading angle is kept as the most recently acquired heading angle information and stored in the memory, and then when the vehicle is restarted, the stored heading angle information will be used to make autonomous driving decisions.
[0088] It should be noted that the relevant concepts and specific implementation processes involved in the vehicle heading angle processing method provided in this disclosure embodiment can be referred to the above. Figure 1 The descriptions in the previous embodiments will not be repeated in this embodiment.
[0089] In this embodiment, when the vehicle speed drops below a first speed threshold, the heading angle value is latched as the previous known heading angle value when the vehicle speed is above the first speed threshold. When the vehicle speed exceeds a second speed threshold, the system unlocks the heading angle value. When the autonomous driving system is off, the last known vehicle heading angle value is stored in non-volatile memory. When the system is started, the most recent vehicle heading angle value can be read from the memory to make autonomous driving decisions. This effectively solves the problem that autonomous vehicles may drift at low speeds due to low speeds, and that sudden braking or stopping can cause the heading angle to drift and deflect, resulting in a discrepancy with the actual vehicle direction.
[0090] Please refer to Figure 3 , Figure 3 This is a structural diagram of a vehicle heading angle processing device provided in an embodiment of this disclosure, as shown below. Figure 3 As shown, the vehicle heading angle processing device 300 includes:
[0091] The acquisition module 301 is used to acquire a first heading angle when the target vehicle's speed is greater than or equal to the first speed threshold when the target vehicle's speed decreases to less than the first speed threshold. The first heading angle is the most recent heading angle that has been stored.
[0092] The latching module 302 is used to take the first heading angle as the heading angle of the target vehicle and control the heading angle of the target vehicle to be in a latched state.
[0093] The unlocking module 303 is used to control the heading angle of the target vehicle to switch from the latched state to the unlocked state when the driving speed of the target vehicle is greater than or equal to the second speed threshold.
[0094] Wherein, the first speed threshold is less than the second speed threshold, the heading angle of the target vehicle does not change in the latched state, and the heading angle of the target vehicle can be updated based on the driving state of the target vehicle in the unlocked state.
[0095] Optionally, the latch module 302 is further configured to:
[0096] Obtain the current first road condition information, and control the heading angle of the target vehicle to be in a latched state based on the first road condition information.
[0097] Optionally, the latch module 302 is further configured to perform at least one of the following:
[0098] When the target vehicle is currently climbing a slope, the heading angle of the target vehicle is locked.
[0099] When the target vehicle is currently in a congested traffic situation, the heading angle of the target vehicle is locked.
[0100] If the curvature of the road where the target vehicle is located is greater than a preset threshold, the heading angle of the target vehicle is locked.
[0101] When the weather corresponding to the current road conditions of the target vehicle is the preset weather, the heading angle of the target vehicle is locked.
[0102] Optionally, the latch module 302 is further configured to:
[0103] Obtain the first duration during which the target vehicle's speed is less than the first speed threshold;
[0104] If the first duration is longer than the first preset duration, the heading angle of the target vehicle is locked.
[0105] Optionally, the latch module 302 is further configured to:
[0106] Obtain the strength of the current location signal of the target vehicle;
[0107] When the strength of the positioning signal is less than the preset signal strength, the heading angle of the target vehicle is locked.
[0108] Optionally, the unlocking module 303 is further configured to:
[0109] When the target vehicle's speed is greater than or equal to the second speed threshold and the strength of the target vehicle's positioning signal is greater than or equal to the preset signal strength, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state.
[0110] Optionally, the device further includes:
[0111] The adjustment module is used to reduce the first speed threshold when the duration during which the target vehicle's speed is less than the third speed threshold is greater than the second preset duration.
[0112] The third speed threshold is greater than the first speed threshold and less than the second speed threshold.
[0113] The apparatus provided in this embodiment, when the speed of the target vehicle decreases to less than a first speed threshold, uses the most recent heading angle (i.e., the first heading angle) stored before the speed of the target vehicle decreased to less than the first speed threshold as the heading angle of the target vehicle, and controls the heading angle of the target vehicle to be in a latched state. This avoids the problem of inaccurate heading angle positioning caused by the vehicle traveling at low speed, thus preventing the target vehicle's driving decision control from being affected by inaccurate heading angle positioning. It also prevents the vehicle from sending abnormal heading angles that cause drifting and deflection to the surrounding environment, thereby affecting other vehicles in the surrounding environment. When the speed of the target vehicle increases to greater than or equal to a second speed threshold, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state. This allows the heading angle of the target vehicle to be updated based on the driving state of the target vehicle, thus preventing the heading angle of the target vehicle from being in a latched state and affecting the target vehicle's driving decision.
[0114] It should be noted that the vehicle heading angle processing device 300 provided in this embodiment can realize each process in the above-described vehicle heading angle processing method embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.
[0115] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.
[0116] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.
[0117] Figure 4A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.
[0118] like Figure 4 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 402 or a computer program loaded from storage unit 408 into random access memory (RAM) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.
[0119] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.
[0120] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the vehicle heading angle processing method. For example, in some embodiments, the vehicle heading angle processing method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the vehicle heading angle processing method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the vehicle heading angle processing method described above by any other suitable means (e.g., by means of firmware).
[0121] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.
[0122] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.
[0123] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
[0124] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).
[0125] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.
[0126] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.
[0127] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.
[0128] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.
Claims
1. A method for processing vehicle heading angle, comprising: When the speed of the target vehicle decreases to less than a first speed threshold, the first heading angle when the speed of the target vehicle is greater than or equal to the first speed threshold is obtained. The first heading angle is the most recent heading angle that has been stored. The first heading angle is used as the heading angle of the target vehicle, and the heading angle of the target vehicle is controlled to be in a latched state. If the speed of the target vehicle is greater than or equal to the second speed threshold, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state. Wherein, the first speed threshold is less than the second speed threshold, the heading angle of the target vehicle does not change in the latched state, and the heading angle of the target vehicle can be updated based on the driving state of the target vehicle in the unlocked state.
2. The method according to claim 1, wherein, The control of the target vehicle's heading angle to be in a latched state includes: Obtain the current first road condition information, and control the heading angle of the target vehicle to be in a latched state based on the first road condition information.
3. The method according to claim 2, wherein, The step of controlling the heading angle of the target vehicle to be in a latched state based on the first road condition information includes at least one of the following: When the target vehicle is currently climbing a slope, the heading angle of the target vehicle is locked. When the target vehicle is currently in a congested traffic situation, the heading angle of the target vehicle is locked. If the curvature of the road where the target vehicle is located is greater than a preset threshold, the heading angle of the target vehicle is locked. When the weather corresponding to the current road conditions of the target vehicle is the preset weather, the heading angle of the target vehicle is locked.
4. The method according to claim 1, wherein, The control of the target vehicle's heading angle to be in a latched state includes: Obtain the first duration during which the target vehicle's speed is less than the first speed threshold; If the first duration is longer than the first preset duration, the heading angle of the target vehicle is locked.
5. The method according to claim 1, wherein, The control of the target vehicle's heading angle to be in a latched state includes: Obtain the strength of the current location signal of the target vehicle; When the strength of the positioning signal is less than the preset signal strength, the heading angle of the target vehicle is locked.
6. The method according to claim 5, wherein, When the target vehicle's speed is greater than or equal to a second speed threshold, controlling the target vehicle's heading angle to switch from the latched state to the unlocked state includes: When the target vehicle's speed is greater than or equal to the second speed threshold and the strength of the target vehicle's positioning signal is greater than or equal to the preset signal strength, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state.
7. The method according to any one of claims 1-6, further comprising: If the duration during which the target vehicle's speed is less than the third speed threshold is greater than the second preset duration, the first speed threshold is reduced. The third speed threshold is greater than the first speed threshold and less than the second speed threshold.
8. A vehicle heading angle processing device, comprising: The acquisition module is used to acquire a first heading angle when the target vehicle's speed is greater than or equal to the first speed threshold when the target vehicle's speed decreases to less than the first speed threshold. The first heading angle is the most recent heading angle that has been stored. A latching module is used to take the first heading angle as the heading angle of the target vehicle and control the heading angle of the target vehicle to be in a latched state. The unlocking module is used to control the heading angle of the target vehicle to switch from the latched state to the unlocked state when the driving speed of the target vehicle is greater than or equal to the second speed threshold. Wherein, the first speed threshold is less than the second speed threshold, the heading angle of the target vehicle does not change in the latched state, and the heading angle of the target vehicle can be updated based on the driving state of the target vehicle in the unlocked state.
9. The apparatus according to claim 8, wherein, The latch module is also used for: Obtain the current first road condition information, and control the heading angle of the target vehicle to be in a latched state based on the first road condition information.
10. The apparatus according to claim 9, wherein, The latching module is also configured to perform at least one of the following: When the target vehicle is currently climbing a slope, the heading angle of the target vehicle is locked. When the target vehicle is currently in a congested traffic situation, the heading angle of the target vehicle is locked. If the curvature of the road where the target vehicle is located is greater than a preset threshold, the heading angle of the target vehicle is locked. When the weather corresponding to the current road conditions of the target vehicle is the preset weather, the heading angle of the target vehicle is locked.
11. The apparatus according to claim 8, wherein, The latch module is also used for: Obtain the first duration during which the target vehicle's speed is less than the first speed threshold; If the first duration is longer than the first preset duration, the heading angle of the target vehicle is locked.
12. The apparatus according to claim 8, wherein, The latch module is also used for: Obtain the strength of the current location signal of the target vehicle; When the strength of the positioning signal is less than the preset signal strength, the heading angle of the target vehicle is locked.
13. The apparatus according to claim 12, wherein, The unlocking module is also used for: When the target vehicle's speed is greater than or equal to the second speed threshold and the strength of the target vehicle's positioning signal is greater than or equal to the preset signal strength, the heading angle of the target vehicle is controlled to switch from the latched state to the unlocked state.
14. The apparatus according to any one of claims 8-13, wherein, The device further includes: The adjustment module is used to reduce the first speed threshold when the duration during which the target vehicle's speed is less than the third speed threshold is greater than the second preset duration. The third speed threshold is greater than the first speed threshold and less than the second speed threshold.
15. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.
17. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-7.
18. An autonomous vehicle configured to perform the method as described in any one of claims 1-7.