Driving trajectory restoration method, device, equipment and medium

Abstract

The present invention relates to the field of trajectory data processing, and discloses a driving trajectory restoration method, device, equipment and medium, the method comprising: obtaining motion parameters corresponding to the driving trajectory; compressing the motion parameters according to the smooth trajectory curve corresponding to the motion parameters, obtaining corresponding compressed trajectory parameters, and storing the compressed trajectory parameters accordingly; restoring the trajectory according to the compressed trajectory parameters, and obtaining the corresponding restored trajectory. The present invention reduces the storage resource occupation of system resources, saves the storage space of trajectory parameter records, reduces the complexity of trajectory data, and reduces the error rate and error rate in subsequent calls and calculations when calling simpler trajectory data, thereby optimizing the effect of trajectory restoration by trajectory parameters by compressing the smooth trajectory line of trajectory data while ensuring the data integrity of compressed trajectory data and original trajectory data.

Description

Technical Field

[0001] The present invention relates to the technical field of trajectory restoration, and in particular to a driving trajectory restoration method, device, equipment and medium. Background Art

[0002] At present, the method of recording the trajectory data of a vehicle is to record the state information of the vehicle at each moment during the driving process, and restore the vehicle's driving trajectory according to the state information at each moment to obtain the vehicle's driving trajectory.

[0003] However, storing and recording the state information of the vehicle at each moment during driving often requires a large storage space, wasting storage resources. In the process of performing trajectory restoration calculations using the state data at each moment, the process of calling the state data at each moment for restoration calculations is complicated, which increases the error rate and error in the trajectory restoration calculation process. Therefore, under the premise that the trajectory data is recorded in the existing storage method, the trajectory restoration effect is poor. Summary of the invention

[0004] The main purpose of the present invention is to provide a driving trajectory restoration method, device, equipment and medium, aiming to optimize the effect of trajectory restoration.

[0005] To achieve the above object, the present invention provides a driving trajectory restoration method, the driving trajectory restoration method comprising:

[0006] Obtain motion parameters corresponding to the driving trajectory;

[0007] According to the smooth trajectory curve corresponding to the motion parameter, compress the motion parameter, obtain the corresponding compressed trajectory parameter, and store the compressed trajectory parameter accordingly;

[0008] Perform trajectory restoration according to the compressed trajectory parameters to obtain a corresponding restored trajectory.

[0009] Optionally, before the step of compressing the motion parameters according to the smooth trajectory curve corresponding to the motion parameters, the method further comprises:

[0010] Extracting the speed and angular velocity of the motion parameter, and generating a corresponding parameter trajectory curve according to the speed and angular velocity and the corresponding action time;

[0011] Obtaining a smoothing factor, and adjusting the speed and angular velocity corresponding to the parameter trajectory curve according to the smoothing factor, and determining the adjusted speed and angular velocity;

[0012] According to the adjusted speed and angular velocity, a corresponding smooth trajectory curve is determined.

[0013] Optionally, after the step of determining a corresponding smooth trajectory curve according to the adjusted speed and angular velocity, the method further comprises:

[0014] According to the adjusted speed and angular velocity corresponding to the smooth trajectory curve, the acceleration and angular acceleration corresponding to the smooth trajectory curve are calculated;

[0015] Comparing the acceleration and angular acceleration corresponding to the smooth trajectory curve with the motion parameters of the driving trajectory to determine the smoothness of the smooth trajectory curve;

[0016] According to the smoothness of the smooth trajectory curve, it is determined whether to perform compression processing on the motion parameters according to the smooth trajectory curve; if the smoothness reaches a preset threshold, the motion parameters are compressed.

[0017] Optionally, the motion parameters include at least: velocity, angular velocity, acceleration and angular acceleration, and the step of compressing the motion parameters according to the smooth trajectory curve corresponding to the motion parameters to obtain the corresponding compressed trajectory parameters includes:

[0018] Obtaining the acceleration value and angular acceleration value corresponding to the smooth trajectory curve;

[0019] According to the acceleration value and the angular acceleration value, determining a time period having the same acceleration value and angular acceleration value in the smooth trajectory curve;

[0020] Parameter compression is performed on the acceleration values ​​and angular acceleration values ​​that are identical within the time period to obtain corresponding compression trajectory parameters.

[0021] Optionally, the step of obtaining motion parameters corresponding to the driving trajectory includes:

[0022] Set the state parameters of the driving trajectory;

[0023] Based on a preset motion principle formula, calculation is performed according to the state parameters to determine the motion parameters at each moment corresponding to the driving trajectory.

[0024] Optionally, the step of performing trajectory restoration according to the compressed trajectory parameters to obtain a corresponding restored trajectory includes:

[0025] Based on the motion principle formula, trajectory restoration is performed according to the compressed trajectory parameters to determine the corresponding restored trajectory.

[0026] Optionally, after the step of restoring the trajectory according to the compressed trajectory parameters, the method further includes:

[0027] Comparing the restored trajectory with the driving trajectory to obtain a restoration effect of the restored trajectory corresponding to the compressed trajectory parameters;

[0028] If the restoration effect does not meet the preset standard, adjusting the smoothing factor for smoothing;

[0029] According to the adjusted smoothing factor, the parameter trajectory curve is smoothed to obtain a corresponding adjusted smooth trajectory curve, and according to the adjusted smooth trajectory curve, a compression process is performed to generate an adjusted compressed trajectory parameter;

[0030] The trajectory restoration is performed according to the adjusted compression trajectory parameters until the restoration effect reaches a preset standard.

[0031] To achieve the above object, the present invention further provides a driving trajectory restoration device, the driving trajectory restoration device comprising:

[0032] An initialization module is used to obtain motion parameters corresponding to the driving trajectory;

[0033] A smoothing processing module, used for generating a parameter trajectory curve according to the motion parameters, and performing smoothing processing on the parameter trajectory curve to obtain a corresponding smooth trajectory curve;

[0034] A calculation compression module, used for compressing the motion parameters at each moment according to the smooth trajectory curve to obtain corresponding compressed trajectory parameters;

[0035] The restoration module is used to restore the trajectory according to the compressed trajectory parameters to obtain the corresponding restored trajectory.

[0036] Among them, each functional module of the driving trajectory restoration device of the present invention implements the steps of the driving trajectory restoration method described above when running.

[0037] To achieve the above-mentioned purpose, the present invention also provides a device, which includes: a memory, a processor, and a driving trajectory restoration program stored in the memory and executable on the processor, and the driving trajectory restoration program implements the steps of the driving trajectory restoration method described above when executed by the processor.

[0038] To achieve the above objectives, the present invention further proposes a computer-readable storage medium, on which a driving trajectory restoration program is stored. When the driving trajectory restoration program is executed by a processor, the steps of the driving trajectory restoration method as described above are implemented.

[0039] The present invention provides a driving trajectory restoration method, device, equipment and medium, the method comprising: obtaining motion parameters corresponding to a driving trajectory; generating a parameter trajectory curve according to the motion parameters, and smoothing the parameter trajectory curve to obtain a corresponding smooth trajectory curve; compressing the motion parameters at each moment according to the smooth trajectory curve to obtain corresponding compressed trajectory parameters; restoring the trajectory according to the compressed trajectory parameters to obtain a corresponding restored trajectory.

[0040] This solution obtains the motion parameters corresponding to the driving trajectory; compresses the motion parameters according to the smooth trajectory curve corresponding to the motion parameters, obtains the corresponding compressed trajectory parameters, and stores the compressed trajectory parameters accordingly; restores the trajectory according to the compressed trajectory parameters to obtain the corresponding restored trajectory. By compressing the smooth trajectory line of the trajectory data, while ensuring the data integrity of the compressed trajectory data and the original trajectory data, the storage resource occupation of the system resources is reduced, the storage space of the trajectory parameter records is saved, the complexity of the trajectory data is reduced, and when calling simpler trajectory data, the error rate and error rate in the subsequent call and calculation process are reduced, and the effect of trajectory restoration by trajectory parameters is optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the structure of the hardware operating environment involved in the embodiment of the present invention;

[0042] Figure 2 It is a schematic flow chart of a first embodiment of a driving trajectory restoration method of the present invention;

[0043] Figure 3 A schematic diagram of a specific flow chart of a first embodiment of the driving trajectory restoration method of the present invention;

[0044] Figure 4 It is a flow chart of the second embodiment of the driving trajectory restoration method of the present invention;

[0045] Figure 5 This is a schematic diagram of an exemplary specific process of smoothing the motion time in the second embodiment of the driving trajectory restoration method of the present invention;

[0046] Figure 6 This is a schematic diagram of an exemplary process of smoothing a trajectory curve in the second embodiment of the driving trajectory restoration method of the present invention;

[0047] Figure 7 It is a flow chart of the third embodiment of the driving trajectory restoration method of the present invention;

[0048] Figure 8This is a schematic diagram of an exemplary effect of compressing trajectory parameters in the third embodiment of the driving trajectory restoration method of the present invention;

[0049] Fig. 9 It is a schematic diagram of the functional modules of the driving trajectory restoration device involved in the driving trajectory restoration method of the present invention.

[0050] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0052] Specifically, refer to Figure 1 , Figure 1 Schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention. Figure 1 As shown, the device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a driving track restoration program. Among them, the operating system is a program for managing and controlling the hardware and software resources of the device, and supports the operation of the driving track restoration program and other software or programs; the network communication module is used to manage and control the network interface 1002; the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used to establish a communication connection with the server; and the processor 1001 can be used to call the driving track restoration program stored in the memory 1005.

[0054] The driving trajectory restoration program stored in the memory 1005 implements the following steps when executed by the processor:

[0055] Obtain motion parameters corresponding to the driving trajectory;

[0056] According to the smooth trajectory curve corresponding to the motion parameter, compress the motion parameter, obtain the corresponding compressed trajectory parameter, and store the compressed trajectory parameter accordingly;

[0057] Perform trajectory restoration according to the compressed trajectory parameters to obtain a corresponding restored trajectory.

[0058] Furthermore, when the driving trajectory restoration program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

[0059] Extracting the speed and angular velocity of the motion parameter, and generating a corresponding parameter trajectory curve according to the speed and angular velocity and the corresponding action time;

[0060] Obtaining a smoothing factor, and adjusting the speed and angular velocity corresponding to the parameter trajectory curve according to the smoothing factor, and determining the adjusted speed and angular velocity;

[0061] According to the adjusted speed and angular velocity, a corresponding smooth trajectory curve is determined.

[0062] Furthermore, when the driving trajectory restoration program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

[0063] According to the adjusted speed and angular velocity corresponding to the smooth trajectory curve, the acceleration and angular acceleration corresponding to the smooth trajectory curve are calculated;

[0064] Comparing the acceleration and angular acceleration corresponding to the smooth trajectory curve with the motion parameters of the driving trajectory to determine the smoothness of the smooth trajectory curve;

[0065] According to the smoothness of the smooth trajectory curve, it is determined whether to perform compression processing on the motion parameters according to the smooth trajectory curve; if the smoothness reaches a preset threshold, the motion parameters are compressed.

[0066] Furthermore, when the driving trajectory restoration program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

[0067] Obtaining the acceleration value and angular acceleration value corresponding to the smooth trajectory curve;

[0068] According to the acceleration value and the angular acceleration value, determining a time period having the same acceleration value and angular acceleration value in the smooth trajectory curve;

[0069] Parameter compression is performed on the acceleration values ​​and angular acceleration values ​​that are identical within the time period to obtain corresponding compression trajectory parameters.

[0070] Furthermore, when the driving trajectory restoration program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

[0071] Set the state parameters of the driving trajectory;

[0072] Based on a preset motion principle formula, calculation is performed according to the state parameters to determine the motion parameters at each moment corresponding to the driving trajectory.

[0073] Furthermore, when the driving trajectory restoration program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

[0074] Based on the motion principle formula, trajectory restoration is performed according to the compressed trajectory parameters to determine the corresponding restored trajectory.

[0075] Furthermore, when the driving trajectory restoration program stored in the memory 1005 is executed by the processor, the following steps are also implemented:

[0076] Comparing the restored trajectory with the driving trajectory to obtain a restoration effect of the restored trajectory corresponding to the compressed trajectory parameters;

[0077] If the restoration effect does not meet the preset standard, adjusting the smoothing factor for smoothing;

[0078] According to the adjusted smoothing factor, the parameter trajectory curve is smoothed to obtain a corresponding adjusted smooth trajectory curve, and according to the adjusted smooth trajectory curve, a compression process is performed to generate an adjusted compressed trajectory parameter;

[0079] The trajectory restoration is performed according to the adjusted compression trajectory parameters until the restoration effect reaches a preset standard.

[0080] In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0081] Specifically, refer to Figure 2 , Figure 2 This is a flow chart of a first embodiment of a driving trajectory restoration method of the present invention, wherein the driving trajectory restoration method comprises:

[0082] Step S10, obtaining motion parameters corresponding to the driving trajectory;

[0083] It should be noted that, in the present embodiment, the motion parameters refer to the state parameters of the driving trajectory, and the state parameters include: initial state parameters and driving state parameters. Specifically, the initial state parameters refer to the state parameters of the object in a stationary state before driving, and the driving state parameters refer to the state parameters of the object in the process of driving. The motion parameters corresponding to the driving trajectory are obtained through the initial state parameters and the driving state parameters.

[0084] Exemplarily, this embodiment can be applied to a specific scenario of trajectory restoration, to initialize the initial state parameters of the vehicle, and to set the driving state parameters of the vehicle's driving state. Based on the kinematic calculation formula of the vehicle's motion principle, the trajectory parameters corresponding to the vehicle's driving trajectory at each moment are calculated to obtain the vehicle's driving motion parameters, and the vehicle's motion parameters at each moment are recorded.

[0085] Optionally, the initial state parameters of the vehicle include: initial velocity, initial angular velocity, angular velocity at time 0, coordinate axis coefficient at time 0, and yaw angle; the driving state parameters of the vehicle include: acceleration, angular acceleration, and time interval. The corresponding motion parameters are determined by calculating according to the formula corresponding to the vehicle kinematics principle based on the corresponding values ​​in the above initial state parameters and driving state parameters, wherein the motion parameters specifically include: velocity at time t, angular velocity at time t, distance moved by the vehicle at time t, vehicle rotation direction, coordinate value of the trajectory point at time t, and angular acceleration at time t.

[0086] Exemplarily, the kinematic calculation formula of the vehicle motion principle includes:

[0087] V t =V0+a*dt

[0088] V rot_t =V_rot0+a_rot*dt

[0089] ds=v0*dt+0.5*a*dt*dt=v0*dt

[0090] d_theta=v_rot0*dt

[0091] Xt=ds*cos(theta_t)

[0092] Yt=ds*sin(theta_t)

[0093] theta_t=theta0+V rot_t *dt

[0094] Among them, the vehicle's state parameters are initial velocity V0, initial angular velocity V_rot0, initial position coordinates (x0, y0), yaw angle theta0; the vehicle's state parameters are acceleration a, angular acceleration rot_a and time interval dt, Vt is the velocity at time t, V rot_t is the angular velocity at time t, ds is the distance the vehicle moves. Since the value of dt is relatively small, its second-order term can be ignored. d_theta is the direction of rotation of the vehicle. Xt and Yt are the x and y coordinates of the vehicle respectively. theta_t is the angular acceleration at time t.

[0095] Furthermore, according to the kinematic calculation formula of the above-mentioned vehicle motion principle, the motion parameters of the vehicle during driving are calculated according to the initial state parameters of the vehicle, wherein the motion parameters of the vehicle during driving include at least the x, y coordinate positioning of the vehicle during driving, the speed and angular velocity of the vehicle, and the acceleration and angular acceleration of the vehicle.

[0096] Step S20, compressing the motion parameters according to the smooth trajectory curve corresponding to the motion parameters, obtaining corresponding compressed trajectory parameters, and storing the compressed trajectory parameters accordingly;

[0097] It should be noted that, in this embodiment, the acceleration and angular acceleration corresponding to the velocity and angular velocity in the smooth trajectory curve are calculated according to a preset calculation formula based on the velocity and angular velocity in the smooth trajectory curve, and according to the acceleration and angular acceleration corresponding to the smooth trajectory, the compression processing of the motion parameters is realized, and the acceleration and angular acceleration are compressed, and the compressed acceleration and angular acceleration are compressed and stored accordingly.

[0098] Exemplarily, this embodiment can also be applied to a specific scenario of trajectory data compression processing, and the compression processing of motion parameters is achieved by selecting acceleration and angular acceleration with the same value from the acceleration and angular acceleration corresponding to the smooth trajectory curve, and by replacing the acceleration and angular acceleration with the same value, the data compression of the motion parameters is achieved, and the corresponding compressed trajectory parameters are obtained after compression.

[0099] Step S30, performing trajectory restoration according to the compressed trajectory parameters to obtain a corresponding restored trajectory.

[0100] It should be noted that, in this embodiment, the trajectory restoration after the trajectory data is compressed is implemented according to the preset formula corresponding to the preset kinematic principle according to the compressed trajectory parameters after compression, and the restored trajectory corresponding to the compressed trajectory parameters after the data compression is obtained.

[0101] Optionally, the method of this embodiment is also applied to a specific application scenario of trajectory data restoration, by substituting the compressed trajectory parameters after compression into a preset calculation formula, calculating the coordinate data at time t according to the acceleration and angular acceleration, and restoring the restored trajectory corresponding to the compressed trajectory data at the action time t.

[0102] Reference Figure 3 , Figure 3 : is a specific flow diagram of this embodiment, which specifically includes: initializing vehicle state parameters; recording the state value trajectory at each moment according to the vehicle kinematics principle; smoothing the recorded speed and angular velocity; reversely deducing the acceleration and angular acceleration of the smoothed curve; if the derivation result is valid, compressing and storing the speed and angular velocity data; and comparing the acceleration and angular acceleration calculated from the compressed speed and angular velocity with the acceleration and angular acceleration in the original motion parameters to determine whether the trajectory restoration can be achieved according to the acceleration and angular acceleration obtained after compression. If not, it is necessary to adjust the parameters for smoothing until the trajectory data restoration is completed.

[0103] This embodiment compresses the motion parameters and restores the trajectory based on the compressed trajectory parameters to obtain the corresponding restored trajectory, thereby reducing the storage resource occupation of system resources, saving the storage space for trajectory parameter records, reducing the complexity of trajectory data, and reducing the error rate and error rate in subsequent calls and calculations, thereby optimizing the effect of trajectory restoration using trajectory parameters.

[0104] Further, based on the first embodiment of the driving trajectory restoration method of the present invention, a second embodiment of the driving trajectory restoration method of the present invention is proposed. In this embodiment, before the motion parameters are compressed in step S20 according to the smooth trajectory curve corresponding to the motion parameters, the method further includes a solution for smoothing the motion parameters. Figure 4 , specifically including:

[0105] Step S201, extracting the speed and angular velocity of the motion parameter, and generating a corresponding parameter trajectory curve according to the speed and angular velocity and the corresponding action time;

[0106] It should be noted that, in the present embodiment, the corresponding parameter trajectory data is generated according to the motion parameters by extracting the speed and angular velocity at time t in the motion parameters, composing according to the speed and angular velocity corresponding to the action time t in the motion parameters, and generating a parameter trajectory curve corresponding to the speed and angular velocity of the motion parameters.

[0107] Step S202, obtaining a smoothing factor, and adjusting the speed and angular velocity corresponding to the parameter trajectory curve according to the smoothing factor to determine the adjusted speed and angular velocity;

[0108] In this embodiment, by substituting a preset smoothing factor into the speed and angular velocity corresponding to the parameter trajectory curve, the speed and angular velocity corresponding to the parameter trajectory curve are smoothly calculated, and in adjacent time periods, the numerical difference of the parameter trajectory curve with a large difference between the speed and angular velocity is numerically balanced to reduce the rate of change of the speed and angular velocity on the corresponding parameter trajectory curve, thereby obtaining the speed and angular velocity calculated and adjusted according to the smoothing factor.

[0109] Specifically, the smoothing factor is a custom adjustment parameter based on the parameter trajectory curve generated corresponding to the speed and angular velocity of the motion parameters. The smoothing factor can change its value within a certain preset range. Therefore, the smoothing factor can also smooth the parameter trajectory curve corresponding to the speed and acceleration with a large fluctuation range. Specifically, the corresponding smoothing factor is automatically set according to the fluctuation density of the parameter trajectory parameters to adjust the smoothness of the parameter trajectory curve.

[0110] Step S203: determining a corresponding smooth trajectory curve according to the adjusted speed and angular velocity.

[0111] It should be noted that this embodiment constructs a corresponding smooth trajectory curve according to the adjusted speed and angular velocity and the action time t. Specifically, the method of this embodiment is also applied to a specific application scenario of smoothing trajectory data. The parameter trajectory curve calculated according to the speed and angular velocity in the motion parameters can represent the change in the value of the speed and angular velocity in the driving trajectory as the action time t passes. By smoothing the parameter trajectory curve of the speed and angular velocity, the corresponding smooth trajectory curve is obtained.

[0112] According to Figure 5 ,according to Figure 5 In the figure, an exemplary specific schematic diagram of smoothing the motion time is shown. During the driving process, the speed and angular velocity of the vehicle will experience relatively dense fluctuations during the action time. After substituting the smoothing factor into the parameter trajectory curve corresponding to the speed and angular velocity for smoothing calculation, a corresponding smooth trajectory curve is generated. The smooth trajectory curve has smaller fluctuations in values ​​than the parameter trajectory curve, but can represent the parameter values ​​of speed and angular velocity corresponding to different times within the action time period.

[0113] Further, refer to Figure 6 After the step of determining the corresponding smooth trajectory curve according to the adjusted speed and angular velocity in step S203, the method further includes:

[0114] Step S204, calculating the acceleration and angular acceleration corresponding to the smooth trajectory curve according to the adjusted speed and angular velocity corresponding to the smooth trajectory curve;

[0115] It should be noted that, in this embodiment, the acceleration and angular acceleration corresponding to the smoothed velocity and angular velocity are calculated by performing reverse calculation according to the smoothed velocity and angular velocity in the smooth trajectory curve.

[0116] Exemplarily, this embodiment can also be applied to the calculation application scenario of acceleration and angular acceleration. Specifically, according to the velocity and angular velocity corresponding to the current moment in the smooth trajectory curve, the corresponding acceleration and angular acceleration after smoothing are calculated. The specific calculation formula is as follows:

[0117] a=(cur_spd-last_spd) / dt

[0118] rot_a=(cur_rot_spd-last_rot_spd) / dt

[0119] Among them, cur_spd represents the speed at the current moment, last_spd represents the speed at the previous interval dt; cur_rot_spd is the angular acceleration at the current moment, and last_rot_spd is the angular acceleration at the previous interval dt.

[0120] Step S205, comparing the acceleration and angular acceleration corresponding to the smooth trajectory curve with the motion parameters of the driving trajectory to determine the smoothness of the smooth trajectory curve;

[0121] It should be noted that, in this embodiment, the smoothness of the smooth trajectory curve is determined by comparing the calculated acceleration and angular acceleration with the acceleration and angular acceleration in the motion parameters corresponding to the original driving trajectory. Specifically, in this embodiment, the smoothness of the smooth trajectory curve refers to the numerical difference between the acceleration and angular acceleration calculated according to the smooth trajectory curve and the acceleration and angular acceleration in the motion parameters corresponding to the original driving trajectory.

[0122] Step S206 , determining whether to perform compression processing on the motion parameters according to the smooth trajectory curve according to the smooth trajectory curve, and if the smoothness reaches a preset threshold, compressing the motion parameters.

[0123] Furthermore, the smoothness of the smooth curve obtained by comparing the acceleration and angular acceleration calculated from the smoothed trajectory curve with the original data in the motion parameters is used to determine whether the trajectory data can be compressed based on the acceleration and angular velocity.

[0124] Exemplarily, if the numerical difference between the two is small, that is, the smoothness of the smooth trajectory curve reaches a preset threshold, the smooth trajectory curve that is smoothed and calculated this time is considered valid, and the smooth trajectory curve is used for subsequent calculations; if the numerical difference between the two is large, that is, the smoothness of the smooth trajectory curve does not reach the preset threshold, the smooth trajectory curve that is smoothed and calculated this time is considered invalid, and the corresponding smoothing factor is reset for smoothing processing to obtain the corresponding smooth trajectory curve.

[0125] Further, in step S206, according to the smoothness of the smooth trajectory curve, it is determined whether to compress the motion parameters according to the smooth trajectory curve. If the smoothness reaches a preset threshold, after compressing the motion parameters, the method further includes compressing the motion parameters and obtaining corresponding compressed trajectory data, specifically including:

[0126] Obtaining the acceleration value and angular acceleration value corresponding to the smooth trajectory curve;

[0127] According to the acceleration value and the angular acceleration value, determining a time period having the same acceleration value and angular acceleration value in the smooth trajectory curve;

[0128] Parameter compression is performed on the acceleration values ​​and angular acceleration values ​​that are identical within the time period to obtain corresponding compression trajectory parameters.

[0129] It should be noted that, in this embodiment, if the smoothness of the smooth trajectory curve reaches a preset threshold, that is, the acceleration and angular acceleration obtained by reversely calculating the velocity and angular velocity of the smooth trajectory curve are not much different from the acceleration and angular acceleration in the original motion parameters, it will not cause errors in the trajectory data restoration process.

[0130] Furthermore, if there are more identical data in the velocity and angular velocity of trajectory data smoothed according to the smoothing factor and the corresponding acceleration value and angular acceleration value, data compression is performed by extracting the same motion parameters of the smoothed trajectory to obtain the corresponding compressed trajectory data. Specifically, data compression of the same motion parameters can be achieved by replacing the same parameters with the same data, thereby reducing the storage space during data storage.

[0131] Specifically, for example, for each dt time interval in the original trajectory data, there are corresponding speeds and accelerations a and rot_a. After the speed and angular velocity are smoothed based on the model-smoothed smooth trajectory curve, the restored values ​​of a and rot_a are the same at multiple moments, that is, the compressed trajectory line corresponding to the motion data that implements model smoothing is smoother. Therefore, the motion parameters corresponding to multiple time intervals dt can be combined, that is, a set of parameters is used to replace the original action time of each dt to save storage resources and realize compression processing of the smooth trajectory curve.

[0132] The present invention reduces the complexity of motion parameters by smoothing motion parameters, and compresses the smoothed motion parameters to reduce the motion parameters that are the same at each moment. Under the condition of ensuring the data integrity of compressed trajectory data and original trajectory data, the complexity of trajectory data is reduced, the storage resource occupation of system resources is reduced, and the storage space of trajectory parameter records is saved.

[0133] Further, based on the first and second embodiments of the driving trajectory restoration method of the present invention, a third embodiment of the driving trajectory restoration method of the present invention is proposed. In this embodiment, after performing trajectory restoration according to the compressed trajectory parameters in step S30, the method further includes a scheme for verifying the restored trajectory effect, referring to Figure 7 , specifically including:

[0134] Step S31, comparing the restored trajectory with the driving trajectory to obtain a restoration effect of the restored trajectory corresponding to the compressed trajectory parameters;

[0135] It should be noted that, in this embodiment, the trajectory data is restored according to the compressed trajectory parameters after compression, and the corresponding action time t is added in the process of trajectory parameter restoration, and the trajectory is restored according to the compressed trajectory parameters after compression according to the corresponding kinematic principle formula.

[0136] Reference Figure 8 , Figure 8 The following is a schematic diagram of an exemplary effect of restoring a trajectory according to the compressed trajectory parameters. Specifically, the action time axis (z axis) of the trajectory data is added on the basis of the plane trajectory x, y.

[0137] Exemplarily, the trajectory restoration effect is determined by comparing the trajectory restoration effect diagram including the action time t with the original driving trajectory. Specifically, the trajectory restoration effect at least includes: the restored trajectory calculated according to the compression trajectory parameters after compression can overlap with the original driving trajectory, and the restored trajectory calculated according to the compression trajectory parameters after compression has a large difference or obvious non-overlap with the original driving trajectory.

[0138] In this embodiment, if the restored trajectory calculated according to the compressed trajectory parameters can overlap with the original driving trajectory, that is, the compressed trajectory parameters after smoothing and compression can ensure the integrity of the data while ensuring that the motion parameters corresponding to the trajectory data can achieve a reduced storage space.

[0139] Step S32, if the restoration effect does not meet the preset standard, adjusting the smoothing factor for smoothing;

[0140] In this embodiment, if the restored trajectory calculated based on the compressed trajectory parameters after compression is significantly different from or has obvious non-overlapping parts with the original driving trajectory, it means that the smoothing process and / or compression process directly deletes the key data in the motion parameters, and therefore, the smoothing process and / or compression process needs to be readjusted. Specifically, the smoothing process and / or compression process can be readjusted by adjusting the smoothing factor of the smoothing process. It can be known that the smoothing factor is a custom adjustment parameter set based on the parameter trajectory curve generated corresponding to the speed and angular velocity of the motion parameters. The smoothing factor can change its value within a certain preset range, thereby adjusting the degree of smoothing of the trajectory data, ensuring the key data of the motion parameters in the trajectory data, and reducing the error rate of subsequent calculations.

[0141] Step S33, smoothing the parameter trajectory curve according to the adjusted smoothing factor to obtain a corresponding adjusted smooth trajectory curve, and compressing the adjusted smooth trajectory curve to generate adjusted compressed trajectory parameters;

[0142] Step S34, performing trajectory restoration according to the adjusted compression trajectory parameters until the restoration effect reaches a preset standard.

[0143] It should be noted that, in the present embodiment, the smoothing factor is adjusted to achieve re-smoothing of the parameter trajectory curve, and the corresponding adjusted smooth trajectory curve is obtained. The corresponding motion parameters in the smooth trajectory curve are compressed to generate corresponding compressed trajectory parameters, and the trajectory is restored according to the compressed trajectory parameters to obtain the corresponding restored trajectory after the smoothing factor is adjusted. The restoration effect of the restored trajectory is verified again. If the preset standard is not met, the smoothing factor is adjusted again to perform the corresponding calculation until the restoration effect restored according to the compressed trajectory data meets the preset standard.

[0144] Specifically, performing trajectory restoration according to the compressed trajectory parameters specifically includes: based on the motion principle formula, performing trajectory restoration according to the compressed trajectory parameters, and determining a corresponding restored trajectory.

[0145] It should be noted that, in this embodiment, the trajectory data is restored by substituting the compressed trajectory parameters into the preset motion principle formula, and the corresponding restored trajectory is obtained.

[0146] This embodiment verifies the restoration effect after the trajectory data is restored, and re-acquires the compressed trajectory data by adjusting the smoothing factor, thereby retaining the key data in the motion parameters, avoiding the distortion of the motion parameters during the compression process, and reducing the mistakes and errors in the restoration process, thereby improving the authenticity of the trajectory restoration and optimizing the restoration effect of the trajectory restoration.

[0147] In addition, the embodiment of the present invention also provides a driving trajectory restoration device, referring to Fig. 9 , Fig. 9 This is a schematic diagram of the functional modules of the driving trajectory restoration device of the present invention, and the driving trajectory restoration device includes:

[0148] Initialization module 10, used to obtain motion parameters corresponding to the driving trajectory;

[0149] A compression module 20, configured to compress the motion parameters according to the smooth trajectory curve corresponding to the motion parameters, obtain corresponding compressed trajectory parameters, and store the compressed trajectory parameters accordingly;

[0150] The restoration module 30 is used to restore the trajectory according to the compressed trajectory parameters to obtain a corresponding restored trajectory.

[0151] In addition, an embodiment of the present invention also proposes a device, which includes a memory, a processor, and a driving trajectory restoration program stored in the memory and executable on the processor, and the driving trajectory restoration program implements the steps of the driving trajectory restoration method described above when executed by the processor.

[0152] The various embodiments of the driving trajectory restoration device and the computer-readable storage medium of the present invention can all refer to the various embodiments of the driving trajectory restoration method of the present invention, and will not be repeated here.

[0153] The specific embodiments of the computer program product of the present invention are basically the same as the embodiments of the above-mentioned driving trajectory restoration method, and will not be described in detail here.

[0154] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0155] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0156] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0157] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A driving trajectory restoration method, characterized in that: The driving trajectory restoration method comprises: Obtain motion parameters corresponding to the driving trajectory; According to the smooth trajectory curve corresponding to the motion parameter, compress the motion parameter, obtain the corresponding compressed trajectory parameter, and store the compressed trajectory parameter accordingly; Perform trajectory restoration according to the compressed trajectory parameters to obtain a corresponding restored trajectory; Before the step of compressing the motion parameters according to the smooth trajectory curve corresponding to the motion parameters, the method further includes: Extracting the speed and angular velocity of the motion parameter, and generating a corresponding parameter trajectory curve according to the speed and angular velocity and the corresponding action time; Obtaining a smoothing factor, and adjusting the speed and angular velocity corresponding to the parameter trajectory curve according to the smoothing factor, and determining the adjusted speed and angular velocity; According to the adjusted speed and angular velocity, a corresponding smooth trajectory curve is determined.

2. The driving trajectory restoration method according to claim 1, characterized in that: After the step of determining the corresponding smooth trajectory curve according to the adjusted speed and angular velocity, the method further comprises: According to the adjusted speed and angular velocity corresponding to the smooth trajectory curve, the acceleration and angular acceleration corresponding to the smooth trajectory curve are calculated; Comparing the acceleration and angular acceleration corresponding to the smooth trajectory curve with the motion parameters of the driving trajectory to determine the smoothness of the smooth trajectory curve; According to the smoothness of the smooth trajectory curve, it is determined whether to perform compression processing on the motion parameters according to the smooth trajectory curve; if the smoothness reaches a preset threshold, the motion parameters are compressed.

3. The driving trajectory restoration method according to claim 2, characterized in that: The motion parameters at least include: velocity, angular velocity, acceleration and angular acceleration. The step of compressing the motion parameters according to the smooth trajectory curve corresponding to the motion parameters to obtain the corresponding compressed trajectory parameters includes: Obtaining the acceleration value and angular acceleration value corresponding to the smooth trajectory curve; According to the acceleration value and the angular acceleration value, determining a time period having the same acceleration value and angular acceleration value in the smooth trajectory curve; Parameter compression is performed on the acceleration values ​​and angular acceleration values ​​that are identical within the time period to obtain corresponding compression trajectory parameters.

4. The driving trajectory restoration method according to claim 1, characterized in that: The step of obtaining motion parameters corresponding to the driving trajectory includes: Set the state parameters of the driving trajectory; Based on a preset motion principle formula, calculation is performed according to the state parameters to determine the motion parameters at each moment corresponding to the driving trajectory.

5. The driving trajectory restoration method according to claim 4, characterized in that: The step of performing trajectory restoration according to the compressed trajectory parameters to obtain the corresponding restored trajectory comprises: Based on the motion principle formula, trajectory restoration is performed according to the compressed trajectory parameters to determine the corresponding restored trajectory.

6. The driving trajectory restoration method according to claim 5, characterized in that: After the step of performing trajectory restoration according to the compressed trajectory parameters and obtaining the corresponding restored trajectory, the method further includes: Comparing the restored trajectory with the driving trajectory to obtain a restoration effect of the restored trajectory corresponding to the compressed trajectory parameters; If the restoration effect does not meet the preset standard, adjusting the smoothing factor for smoothing; According to the adjusted smoothing factor, the parameter trajectory curve is smoothed to obtain a corresponding adjusted smooth trajectory curve, and according to the adjusted smooth trajectory curve, a compression process is performed to generate an adjusted compressed trajectory parameter; The trajectory restoration is performed according to the adjusted compression trajectory parameters until the restoration effect reaches a preset standard.

7. A driving trajectory restoration device, characterized in that: The driving trajectory restoration device comprises: An initialization module is used to obtain motion parameters corresponding to the driving trajectory; A compression module, used for compressing the motion parameters according to the smooth trajectory curve corresponding to the motion parameters, obtaining corresponding compressed trajectory parameters, and storing the compressed trajectory parameters accordingly; A restoration module, used to restore the trajectory according to the compressed trajectory parameters to obtain a corresponding restored trajectory; The compression module is further used to extract the speed and angular velocity of the motion parameter, and generate a corresponding parameter trajectory curve according to the speed and angular velocity and the corresponding action time; Obtaining a smoothing factor, and adjusting the speed and angular velocity corresponding to the parameter trajectory curve according to the smoothing factor, and determining the adjusted speed and angular velocity; According to the adjusted speed and angular velocity, a corresponding smooth trajectory curve is determined.

8. A device, characterized in that The device includes a memory, a processor, and a driving trajectory restoration program stored in the memory and executable on the processor. When the driving trajectory restoration program is executed by the processor, the steps of the driving trajectory restoration method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a driving trajectory restoration program, and when the driving trajectory restoration program is executed by the processor, the steps of the driving trajectory restoration method according to any one of claims 1 to 6 are implemented.

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