A method and system for calculating turning angle at intersection

Abstract

The present invention provides a method and system for calculating the turning angle of an intersection, the method comprising: obtaining the angle of the end point of the road vector of the main path of the intersection; obtaining the leftmost lane vector point of the road exiting the intersection, and calculating the angle at the end point of the exit path based on the heading angle accumulation value of the lane vector point; and calculating the turning angle of the intersection according to the difference between the angle at the end point of the road vector of the main path of the intersection and the angle at the end point of the exit path. The scheme can effectively improve the accuracy of the intersection turning angle calculation and has good data tolerance capability.

Description

Technical Field

[0001] The present invention belongs to the field of high-precision map applications, and in particular relates to a method and system for calculating a turning angle at an intersection. Background Art

[0002] When an autonomous vehicle turns at a road intersection, it often involves the choice of a turning route, which requires pre-calculating the turning angle of the road intersection. At present, the more common method for calculating the turning angle of the road intersection is to obtain the turning angle based on the counterclockwise angle between the angle at the end point of the road vector of the exit path of the road intersection and the angle at the end point of the main path of the road intersection. However, in actual processing situations, the angle accuracy at the end point of the road vector is not enough. If it is directly read from the basic collected data, it is easy to cause inaccurate numerical calculation results, and it can only rely on high-precision map data. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a method and system for calculating a turning angle at an intersection, which is used to solve the problem that the existing turning angle calculation is affected by the insufficient precision of the road vector endpoint, resulting in low accuracy.

[0004] In a first aspect of an embodiment of the present invention, a method for calculating a turning angle at an intersection is provided, comprising:

[0005] Get the end point angle of the main path road vector of the intersection;

[0006] Obtain the leftmost lane vector point of the exit road at the intersection, and calculate the angle at the end point of the exit path based on the accumulated heading angle of the lane vector point;

[0007] The intersection turning angle is calculated based on the difference between the angle at the end point of the main path road vector of the intersection and the angle at the end point of the escape path.

[0008] In a second aspect of an embodiment of the present invention, a system for calculating a turning angle at an intersection is provided, comprising:

[0009] An acquisition module is used to obtain the end point angle of the road vector of the main path of the intersection;

[0010] The first calculation module is used to obtain the leftmost lane vector point of the intersection escape road, and calculate the angle at the end point of the escape path based on the cumulative value of the heading angle of the lane vector point;

[0011] The second calculation module is used to calculate the intersection turning angle according to the difference between the angle at the end point of the road vector of the main path of the intersection and the angle at the end point of the escape path.

[0012] In a third aspect of an embodiment of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect of the embodiment of the present invention when executing the computer program.

[0013] In a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method provided in the first aspect of the embodiment of the present invention are implemented.

[0014] In the embodiment of the present invention, the intersection turning angle is calculated based on the lane vector of the lane that has been left. Compared with the traditional steering angle calculation, the calculation accuracy is higher, the result is more accurate and reliable, and it has good fault tolerance and good interpretability, and is suitable for application in the real environment of large-scale map data. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic flow chart of a method for calculating a turning angle at an intersection provided by one embodiment of the present invention;

[0017] Figure 2 A schematic diagram of the structure of a system for calculating a turning angle at an intersection provided by an embodiment of the present invention;

[0018] Figure 3 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be understood that the term "including" and other similar expressions in the specification or claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions, such as a process, method, system, or device including a series of steps or units is not limited to the listed steps or units. In addition, "first" and "second" are used to distinguish different objects, not to describe a specific order.

[0021] See also Figure 1 , a schematic flow chart of a method for calculating a turning angle at an intersection provided by an embodiment of the present invention includes:

[0022] S101, obtaining the end point angle of the road vector of the main path of the intersection;

[0023] The main path at the intersection refers to the path before the bifurcation node at the road intersection, that is, the path before the turn.

[0024] Among them, the road vector of the main path of the road intersection is obtained, and the angle at the end point of the main path is obtained according to the road vector.

[0025] S102, obtaining the leftmost lane vector point of the road exiting the intersection, and calculating the angle at the end point of the exit path based on the accumulated heading angle of the lane vector point;

[0026] The escape path refers to the path escaped after the road intersection fork node, that is, the path after turning.

[0027] Get the leftmost lane vector point of the exit road at the intersection, and calculate the angle at the end point of the exit path based on the cumulative change in the heading angle of the lane vector point.

[0028] Specifically, the angle at the end point of the escape path is calculated according to formula (1):

[0029]

[0030] In the formula, Φ e represents the angle at the end point of the escape path, a0 represents the initial angle of the escape path, Φ i Indicates the heading angle change of the vector point that escapes the leftmost lane of the road, i is a counting variable, and m is the number of lane vector points;

[0031]

[0032] The above angles are calculated in radians, and the output unit of the calculation result is degree.

[0033] S103, calculating the intersection turning angle according to the difference between the angle at the end point of the road vector of the main path of the intersection and the angle at the end point of the escape path.

[0034] Specifically, the intersection turning angle β is calculated according to formula (2):

[0035]

[0036] In the formula, Φ s Represents the angle at the end point of the main path road vector, Φ e Indicates the angle at the end point of the escape path.

[0037] Optionally, when the angle at the end of the escape path is greater than 180°, it is determined that the vehicle is turning around, and the intersection turning angle is calculated according to formula (3):

[0038]

[0039] Where β is the turning angle at the intersection, Φ s Represents the angle at the end point of the main path road vector, Φ e Indicates the angle at the end point of the escape path, Φ i It represents the heading angle of the vector point that leaves the leftmost lane of the road. i is a counting variable and m is the number of lane vector points.

[0040] In this embodiment, based on the cumulative value of the heading angle of the lane vector point, the turning angle at the intersection is calculated by calculating the lane vector that has left the lane. This can reduce the direct impact of the angle accuracy at the end point of the road vector on the steering angle calculation, improve the accuracy of the steering angle calculation, and have good fault tolerance.

[0041] It should be understood that the serial numbers of the steps in the above embodiments do not imply a sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0042] Figure 2 A schematic diagram of a system for calculating a turning angle at an intersection provided by an embodiment of the present invention, the system comprising:

[0043] An acquisition module 210 is used to acquire the end point angle of the road vector of the main path of the intersection;

[0044] The first calculation module 220 is used to obtain the leftmost lane vector point of the intersection escape road, and calculate the angle at the end point of the escape path based on the cumulative value of the heading angle of the lane vector point;

[0045] The angle at the end point of the escape path is calculated according to formula (1):

[0046]

[0047] In the formula, Φ e represents the angle at the end point of the escape path, a0 represents the initial angle of the escape path, Φ iIndicates the heading angle change of the vector point that escapes the leftmost lane of the road, i is a counting variable, and m is the number of lane vector points;

[0048] in,

[0049] Both represent the heading angle of the lane vector point.

[0050] The second calculation module 230 is used to calculate the intersection turning angle according to the difference between the angle at the end point of the road vector of the main path of the intersection and the angle at the end point of the escape path.

[0051] Specifically, the intersection turning angle β is calculated according to formula (2):

[0052]

[0053] In the formula, Φ s Represents the angle at the end point of the main path road vector, Φ e Indicates the angle at the end point of the escape path.

[0054] In one embodiment, when the angle at the end of the escape path is greater than 180°, it is determined that the vehicle is turning around, and the intersection turning angle is calculated according to formula (3):

[0055]

[0056] Where β is the turning angle at the intersection, Φ s Represents the angle at the end point of the main path road vector, Φ e Indicates the angle at the end point of the escape path, Φ i It represents the heading angle of the vector point that leaves the leftmost lane of the road. i is a counting variable and m is the number of lane vector points.

[0057] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0058] Figure 3 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device is used to calculate the turning angle at an intersection. Figure 3 As shown, the electronic device 3 of this embodiment includes: a memory 310, a processor 320 and a system bus 330, wherein the memory 310 includes an executable program 3101 stored thereon, and those skilled in the art can understand that Figure 3 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0059] Combine the following Figure 3 A detailed introduction to the various components of electronic equipment:

[0060] The memory 310 can be used to store software programs and modules, and the processor 320 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 310. The memory 310 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device (such as cache data), etc. In addition, the memory 310 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0061] The memory 310 includes an executable program 3101 of the network request method, and the executable program 3101 can be divided into one or more modules / units, which are stored in the memory 310 and executed by the processor 320 to calculate the output intersection turning angle, etc. The one or more modules / units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 3101 in the electronic device 4. For example, the computer program 3101 can be divided into functional modules such as an acquisition module, a first calculation module, and a second calculation module.

[0062] The processor 320 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 310, and calling data stored in the memory 310, it performs various functions of the electronic device and processes data, thereby monitoring the overall status of the electronic device. Optionally, the processor 320 may include one or more processing units; preferably, the processor 320 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 320.

[0063] The system bus 330 is used to connect the various functional components inside the computer, and can transmit data information, address information, and control information. Its types can be, for example, PCI bus, ISA bus, CAN bus, etc. The instructions of the processor 320 are transmitted to the memory 310 through the bus, and the memory 310 feeds back data to the processor 320. The system bus 330 is responsible for the data and instruction exchange between the processor 320 and the memory 310. Of course, the system bus 330 can also be connected to other devices, such as network interfaces, display devices, etc.

[0064] In the embodiment of the present invention, the executable program executed by the processor 320 included in the electronic device includes:

[0065] Get the end point angle of the main path road vector of the intersection;

[0066] Obtain the leftmost lane vector point of the exit road at the intersection, and calculate the angle at the end point of the exit path based on the accumulated heading angle of the lane vector point;

[0067] The intersection turning angle is calculated based on the difference between the angle at the end point of the main path road vector of the intersection and the angle at the end point of the escape path.

[0068] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0069] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0070] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating a turning angle at an intersection, characterized in that: include: Get the end point angle of the main path road vector of the intersection; Obtain the leftmost lane vector point of the exit road at the intersection, and calculate the angle at the end point of the exit path based on the accumulated heading angle of the lane vector point; The angle at the end point of the escape path is calculated according to formula (1): In the formula, Indicates the angle at the end point of the escape path. represents the initial angle of the escape path, Indicates the change in heading angle of the vector point that leaves the leftmost lane of the road. is a counting variable, m is the number of lane vector points; in, , , Both represent the heading angle of the lane vector point; The intersection turning angle is calculated based on the difference between the angle at the end point of the main path road vector of the intersection and the angle at the end point of the escape path.

2. The method according to claim 1, characterized in that The method of calculating the intersection turning angle according to the difference between the angle at the end point of the main path road vector of the intersection and the angle at the end point of the escape path comprises: Calculate the intersection turning angle according to formula (2) : In the formula, Represents the angle at the end point of the main path road vector, Indicates the angle at the end point of the escape path.

3. The method according to claim 1, characterized in that The method of calculating the intersection turning angle according to the difference between the angle at the end point of the main path road vector of the intersection and the angle at the end point of the escape path also includes: When the angle at the end of the escape path is greater than 180°, it is determined that the vehicle is turning around, and the intersection turning angle is calculated according to formula (3): In the formula, is the intersection turning angle, Represents the angle at the end point of the main path road vector, Indicates the angle at the end point of the escape path. Indicates the heading angle of the vector point that leaves the leftmost lane of the road. is a counting variable, m The number of lane vector points.

4. A system for calculating the turning angle at an intersection, characterized in that: include: An acquisition module is used to obtain the end point angle of the road vector of the main path of the intersection; The first calculation module is used to obtain the leftmost lane vector point of the intersection escape road, and calculate the angle at the end point of the escape path based on the cumulative value of the heading angle of the lane vector point; The angle at the end point of the escape path is calculated according to formula (1): In the formula, Indicates the angle at the end point of the escape path. represents the initial angle of the escape path, Indicates the change in heading angle of the vector point that leaves the leftmost lane of the road. is a counting variable, m is the number of lane vector points; in, , , Both represent the heading angle of the lane vector point; The second calculation module is used to calculate the intersection turning angle according to the difference between the angle at the end point of the road vector of the main path of the intersection and the angle at the end point of the escape path.

5. The system according to claim 4, characterized in that The method of calculating the intersection turning angle according to the difference between the angle at the end point of the main path road vector of the intersection and the angle at the end point of the escape path comprises: Calculate the intersection turning angle according to formula (2) : In the formula, Represents the angle at the end point of the main path road vector, Indicates the angle at the end point of the escape path.

6. The system according to claim 4, characterized in that The method of calculating the intersection turning angle according to the difference between the angle at the end point of the main path road vector of the intersection and the angle at the end point of the escape path also includes: When the angle at the end of the escape path is greater than 180°, it is determined that the vehicle is turning around, and the intersection turning angle is calculated according to formula (3): In the formula, is the intersection turning angle, Represents the angle at the end point of the main path road vector, Indicates the angle at the end point of the escape path. Indicates the heading angle of the vector point that leaves the leftmost lane of the road. is a counting variable, m The number of lane vector points.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of a method for calculating a turning angle at an intersection as described in any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed, the steps of a method for calculating a turning angle at an intersection as described in any one of claims 1 to 3 are implemented.

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