Vehicle output positioning data determination method, device, equipment and storage medium

Abstract

The present application relates to the field of vehicle networking technology, and in particular to a method, device, equipment and storage medium for determining vehicle output positioning data. The method comprises: obtaining a set of historical output positioning data of the vehicle and current sampled positioning data collected at the current sampling moment; when the vehicle is in a non-stationary state, predicting the direction of movement of the vehicle based on the set of historical output positioning data, and obtaining a predicted trend of change in the direction of movement; comparing the current sampled positioning data with the first historical output positioning data to obtain a trend of change in the positioning movement direction; matching the predicted trend of change in the movement direction with the trend of change in the positioning movement direction to obtain a direction matching result; and determining the vehicle output positioning data based on the direction matching result. The method utilizes the continuity of the movement trend of the vehicle when it is driving to identify the drift points output by the positioning system, and compensates for the drift points, so as to obtain a smooth vehicle movement trajectory.

Description

[0001] This application claims priority to Chinese patent application number 2022115516826, filed on December 5, 2022, and entitled “Vehicle output positioning data determination method, device, equipment and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle networking technology, and in particular to a method, device, equipment and storage medium for determining vehicle output positioning data. Background Art

[0003] Vehicle-to-everything (V2X) wireless communication technology refers to the exchange of information between vehicles and the outside world. By integrating global positioning system navigation technology, vehicle-to-vehicle communication technology, wireless communication, and remote sensing technology, the Internet of Vehicles has laid a new direction for the development of automotive technology, achieving compatibility between manual and autonomous driving. Simply put, models equipped with this system can automatically select the best route for driving conditions by analyzing real-time traffic information in autonomous driving mode, thereby greatly alleviating traffic congestion. In addition, by using on-board sensors and camera systems, it can also perceive the surrounding environment and make rapid adjustments to achieve "zero traffic accidents." For example, if a pedestrian suddenly appears, the car can automatically slow down to a safe speed or stop.

[0004] In V2X applications, vehicles are often required to output information such as their location and trajectory, which can be obtained through positioning systems. However, because positioning system satellite signals are susceptible to complex factors such as atmospheric ionospheric fluctuations, external obstructions, and multipath effects, positioning often deviates to varying degrees from actual conditions. When the deviation exceeds the accuracy range, positioning drift occurs. For V2X-enabled vehicles, positioning drift can lead to inaccurate positioning and missing trajectories, thus compromising driving safety. Therefore, for V2X-enabled vehicles, accurately identifying and compensating for positioning drift is a pressing issue. Summary of the Invention

[0005] The present application provides a positioning data determination method, device, equipment and storage medium, which utilizes the continuity of the vehicle's motion trend during driving to judge the movement direction change trend of the current sampled positioning data collected by the positioning system, and can accurately identify the positioning drift point.

[0006] In a first aspect, an embodiment of the present application discloses a method for determining vehicle output positioning data, the method comprising:

[0007] Obtaining a set of historical output positioning data of the vehicle and current sampling positioning data collected at a current sampling moment; the set of historical output positioning data includes first historical output positioning data output by the vehicle at a first historical sampling moment, where the first historical sampling moment is a sampling moment that is before the current sampling moment and adjacent to the current sampling moment;

[0008] When the vehicle is in a non-stationary state, the vehicle's movement direction is predicted based on the historical output positioning data set to obtain the predicted movement direction change trend of the vehicle at the current sampling moment;

[0009] Comparing the current sampled positioning data with the first historical output positioning data to obtain a positioning movement direction change trend of the vehicle at the current sampling moment;

[0010] Match the predicted movement direction change trend with the positioned movement direction change trend to obtain a direction matching result;

[0011] According to the direction matching result, the output positioning data corresponding to the vehicle at the current sampling time is determined.

[0012] Furthermore, the historical output positioning data set includes historical output positioning data output by the vehicle at at least two historical sampling moments that are prior to and continuous with the current sampling moment. When the vehicle is not stationary, the vehicle's movement direction is predicted based on the historical output positioning data set to obtain a predicted movement direction change trend of the vehicle at the current sampling moment, including:

[0013] When the vehicle is in a non-stationary state, at least one comparison array is determined in the historical output positioning data set; each comparison array includes third historical output positioning data output by the vehicle at a previous historical sampling moment and fourth historical output positioning data output at a subsequent historical sampling moment; the previous historical sampling moment is any sampling moment, and the subsequent historical sampling moment is located before the previous historical sampling moment and is adjacent to the previous historical sampling moment;

[0014] Comparing the third historical output positioning data with the fourth historical output positioning data in each comparison array to obtain a data comparison result for each comparison array;

[0015] According to the data comparison results of each comparison array, the movement direction of the vehicle is predicted, and the predicted movement direction change trend of the vehicle at the current sampling moment is obtained.

[0016] Furthermore, each historical output positioning data includes longitude data and latitude data; the data comparison results include longitude data comparison results and latitude data comparison results; based on the data comparison results of each comparison array, the vehicle's movement direction is predicted, and the predicted movement direction change trend of the vehicle at the current sampling moment is obtained, including:

[0017] Determine the vehicle's longitudinal direction of motion based on the comparison results of the longitude data in each comparison array;

[0018] Determine the vehicle's latitudinal direction of motion based on the comparison results of the latitude data in each comparison array;

[0019] According to the longitude and latitude movement directions, the predicted movement direction change trend of the vehicle at the current sampling moment is determined.

[0020] Furthermore, based on the direction matching result, the output positioning data corresponding to the vehicle at the current sampling time is determined, including:

[0021] Determining a vehicle's movement distance threshold;

[0022] Determining the positioning movement distance of the vehicle at the current sampling moment based on the current sampled positioning data and the first historical output positioning data;

[0023] Compare the positioning movement distance with the movement distance threshold to obtain a distance comparison result;

[0024] Determine the positioning drift point determination result corresponding to the current sampled positioning data based on the direction matching result and / or the distance comparison result;

[0025] According to the positioning drift point determination result, the output positioning data corresponding to the vehicle at the current sampling moment is determined.

[0026] Furthermore, according to the positioning drift point determination result, the output positioning data corresponding to the vehicle at the current sampling time is determined, including:

[0027] When the positioning drift point determination result is that the current sampled positioning data is a non-positioning drift point, the current sampled positioning data is determined as the output positioning data corresponding to the vehicle at the current sampling moment.

[0028] Furthermore, the historical output positioning data set also includes second historical output positioning data output by the vehicle at a second historical sampling moment, where the second historical sampling moment is a sampling moment that is located before the first historical sampling moment and adjacent to the first historical sampling moment; and based on the positioning drift point determination result, determining the output positioning data corresponding to the vehicle at the current sampling moment includes:

[0029] When the positioning drift point determination result indicates that the current sampled positioning data is a positioning drift point, determining the compensated positioning data at the current sampling moment according to the first historical output positioning data and the second historical output positioning data;

[0030] The compensated positioning data is determined as the output positioning data corresponding to the vehicle at the current sampling moment.

[0031] Furthermore, when the positioning drift point determination result is that the current sampled positioning data is a positioning drift point, the compensated positioning data at the current sampling moment is determined according to the first historical output positioning data and the second historical output positioning data, including:

[0032] When the positioning drift point determination result is that the current sampled positioning data is a positioning drift point, determining the positioning change data according to the first historical output positioning data and the second historical output positioning data;

[0033] The compensated positioning data at the current sampling moment is determined according to the first historical output positioning data and the positioning change data.

[0034] In a second aspect, an embodiment of the present application discloses a device for determining vehicle output positioning data, the device comprising:

[0035] an acquisition module, configured to acquire a set of historical output positioning data of the vehicle and current sampling positioning data collected at a current sampling moment; the set of historical output positioning data includes first historical output positioning data output by the vehicle at a first historical sampling moment, where the first historical sampling moment is a sampling moment that is prior to and adjacent to the current sampling moment;

[0036] A module for determining a change trend of a predicted movement direction is used to predict the movement direction of the vehicle based on a historical output positioning data set when the vehicle is in a non-stationary state, and obtain a predicted change trend of the movement direction of the vehicle at the current sampling moment;

[0037] A positioning movement direction change trend determination module is used to compare the current sampled positioning data with the first historical output positioning data to obtain the positioning movement direction change trend of the vehicle at the current sampling moment;

[0038] A direction matching result determination module is used to match the predicted movement direction change trend with the positioning movement direction change trend to obtain a direction matching result;

[0039] The output positioning data determination module is used to determine the output positioning data corresponding to the vehicle at the current sampling time based on the direction matching result.

[0040] In some optional embodiments, the historical output positioning data set includes historical output positioning data output by the vehicle at at least two historical sampling moments that are located before the current sampling moment and are continuous with the current sampling moment; and the module for determining the trend of predicted movement direction changes includes:

[0041] a comparison array determination unit, configured to determine, when the vehicle is in a non-stationary state, at least one comparison array in a set of historical output positioning data; each comparison array comprising third historical output positioning data output by the vehicle at a previous historical sampling moment and fourth historical output positioning data output at a subsequent historical sampling moment; the previous historical sampling moment being any sampling moment, and the subsequent historical sampling moment being a moment before and adjacent to the previous historical sampling moment;

[0042] a data comparison result determination unit, configured to compare the third historical output positioning data with the fourth historical output positioning data in each comparison array to obtain a data comparison result for each comparison array;

[0043] The predicted movement direction change trend determination unit is used to predict the movement direction of the vehicle based on the data comparison results of each comparison array, and obtain the predicted movement direction change trend of the vehicle at the current sampling moment.

[0044] In some optional embodiments, each historical output positioning data includes longitude data and latitude data; the data comparison result includes a longitude data comparison result and a latitude data comparison result; and the unit for determining a trend of change in predicted movement direction includes:

[0045] a longitude movement direction determination subunit, configured to determine the longitude movement direction of the vehicle based on the comparison results of the longitude data in each comparison array;

[0046] a latitudinal motion direction determination subunit, configured to determine the latitudinal motion direction of the vehicle based on the comparison results of the latitude data in each comparison array;

[0047] The predicted movement direction change trend determination subunit is used to determine the predicted movement direction change trend of the vehicle at the current sampling moment based on the longitude movement direction and the latitude movement direction.

[0048] In some optional implementations, the output positioning data determination module includes:

[0049] a movement distance threshold determination unit, configured to determine a movement distance threshold of the vehicle;

[0050] a positioning movement distance determination unit, configured to determine the positioning movement distance of the vehicle at a current sampling moment based on the current sampled positioning data and the first historical output positioning data;

[0051] A distance comparison result determination unit is used to compare the positioning movement distance with the movement distance threshold to obtain a distance comparison result;

[0052] A positioning drift point determination result determination unit, configured to determine a positioning drift point determination result corresponding to the current sampled positioning data based on a direction matching result and / or a distance comparison result;

[0053] The output positioning data determination unit is used to determine the output positioning data corresponding to the vehicle at the current sampling moment according to the positioning drift point determination result.

[0054] In some optional implementations, the output positioning data determination unit includes:

[0055] The output positioning data determination subunit is used to determine the current sampled positioning data as the output positioning data corresponding to the vehicle at the current sampling moment when the positioning drift point determination result is that the current sampled positioning data is a non-positioning drift point.

[0056] In some optional embodiments, the historical output positioning data set further includes second historical output positioning data output by the vehicle at a second historical sampling moment, where the second historical sampling moment is a sampling moment that is before the first historical sampling moment and adjacent to the first historical sampling moment. The output positioning data determining unit includes:

[0057] a compensation positioning data determination subunit, configured to determine the compensation positioning data at the current sampling moment based on the first historical output positioning data and the second historical output positioning data when the positioning drift point determination result indicates that the current sampled positioning data is a positioning drift point;

[0058] The output positioning data determination subunit is used to determine the compensated positioning data as the output positioning data corresponding to the vehicle at the current sampling moment.

[0059] In some optional embodiments, the compensated positioning data determination subunit includes:

[0060] a positioning change data determination subunit, configured to determine positioning change data based on the first historical output positioning data and the second historical output positioning data when the positioning drift point determination result indicates that the current sampled positioning data is a positioning drift point;

[0061] The compensated positioning data determination subunit is used to determine the compensated positioning data at the current sampling moment according to the first historical output positioning data and the positioning change data.

[0062] In a third aspect, an embodiment of the present application discloses an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded by the processor and executes the vehicle output positioning data determination method as described above.

[0063] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle output positioning data determination method as described above.

[0064] The technical solution provided by the embodiments of the present application has the following technical effects:

[0065] This method for determining vehicle output positioning data determines the predicted trend of the vehicle's motion direction at the current sampling moment based on a set of historical output positioning data. The positioning data collected at the current sampling moment is compared with the positioning data at the previous sampling moment to determine the trend of the positioning motion direction. The predicted trend of the motion direction change is then compared with the positioning direction change trend to determine the output positioning data based on the comparison result. This method utilizes the continuity of the vehicle's motion trend to accurately identify whether the positioning data collected by the positioning system represents a positioning drift point. Based on the identification result, the output positioning data corresponding to the current sampling moment is determined, ensuring the accuracy of the output positioning data and guaranteeing vehicle driving safety in V2X application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0067] Figure 1 Schematic diagram of an application environment of a method for determining vehicle output positioning data provided by an embodiment of the present application;

[0068] Figure 2 This is a flow chart of a method for determining vehicle output positioning data provided by an embodiment of the present application;

[0069] Figure 3 This is a schematic diagram of the structure of a vehicle output positioning data determination device provided in an embodiment of the present application;

[0070] Figure 4 This is a hardware structure block diagram of a server for a method for determining vehicle output positioning data provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0072] It should be noted that the terms "first", "second", etc. in the description and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0073] In order to make the purpose, technical solutions and advantages disclosed in the embodiments of the present application more clearly understood, the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present application and are not intended to limit the embodiments of the present application.

[0074] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this embodiment, unless otherwise specified, "plurality" means two or more.

[0075] With the increasing popularity of technologies such as autonomous driving and unmanned systems, high-precision satellite positioning has become an indispensable key technology due to its all-weather and high reliability advantages. High-precision positioning technologies mainly include Real-Time Kinematic (RTK) positioning technology, Precise Point Positioning (PPP) positioning technology, and Regional Reference Network Enhanced Precise Point Positioning-Real Time Kinematic (PPP-RTK). However, regardless of the positioning technology, positioning drift may occur due to signal interference, poor network signal, signal loss, etc. In the vehicle-to-everything (V2X) scenario, if the vehicle positioning data has large-scale jumps or the vehicle's forward trajectory retreats, the vehicle's position and driving trajectory cannot be accurately obtained, which will interfere with the reliability of the V2X application and affect vehicle driving safety.

[0076] In view of this, an embodiment of the present application provides a method for determining vehicle output positioning data, which utilizes the vehicle motion state to filter out vehicle-mounted positioning offset points and data compensation method, thereby achieving more accurate positioning based on high-precision positioning technology, thereby achieving a more optimized vehicle autonomous driving effect.

[0077] See also Figure 1 , Figure 1 Schematic diagram of an application environment of a method for determining vehicle output positioning data provided by an embodiment of the present application, such as Figure 1 As shown, the application environment may include a vehicle 101 and a server 103. The vehicle 101 may be an intelligent connected car.

[0078] In the embodiment of the present application, the vehicle 101 is provided with an on-board unit (OBU) for V2X communication. The OBU can output information such as its location and trajectory. In addition, the vehicle 101 is also provided with a positioning system receiver of a satellite positioning system, which can receive sampled positioning data obtained by the satellite positioning system periodically collecting the vehicle's position. Optionally, the satellite positioning system can be a global navigation positioning system, such as the Beidou satellite navigation system or the GLONASS navigation system, or a local navigation positioning system, such as the Quasi-Zenith Satellite System.

[0079] In an embodiment of the present application, server 103 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, as well as big data and artificial intelligence platforms.

[0080] In an embodiment of the present application, vehicle 101 can send the sampled positioning data received by the positioning system receiver to server 103 for processing. After server 103 determines the output positioning data, it sends the output positioning data to vehicle 101, and then vehicle 101 broadcasts it to the outside through the on-board unit.

[0081] It should be noted that Figure 1 The illustrated embodiment of the present invention provides only one application environment for the method for determining vehicle output positioning data. In practical applications, other application environments may also be included. For example, in a practical application, only vehicle 101 is included. Vehicle 101 may process the sampled positioning data received by the positioning system receiver via an onboard computer terminal. After the onboard computer terminal determines the output positioning data, it is broadcast externally via the onboard unit.

[0082] The following describes a specific embodiment of a method for determining vehicle output positioning data of the present application. Figure 2 It is a flow chart of a method for determining vehicle output positioning data provided by an embodiment of the present application. This specification provides method operation steps such as the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative work. The order of steps listed in the embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 2 As shown, the method may include:

[0083] S201: Acquire a set of historical output positioning data of the vehicle and current sampling positioning data collected at the current sampling moment.

[0084] In the embodiment of the present application, at each sampling moment, the positioning system receiver installed in the vehicle will receive a sampled positioning data obtained by the satellite positioning system based on the vehicle's position. The sampled positioning data collected by the satellite positioning system is not always reliable. Only when the sampled positioning data is not a positioning drift point can the vehicle broadcast it as output positioning data. Therefore, after the vehicle obtains the current sampled positioning data collected by the satellite positioning system at the current sampling moment, it is necessary to judge the current sampled positioning data to determine whether the current sampled positioning data is a positioning drift point.

[0085] In an embodiment of the present application, the satellite positioning system may collect the position of the vehicle by sampling according to a preset sampling period. The preset sampling period may be selected according to actual needs and the performance of the satellite positioning system. For example, taking the Global Positioning System (GPS) as an example, its sampling period is generally 100ms. For each sampling moment, the vehicle will perform a positioning drift point determination on the collected sampled positioning data, and then output an output positioning data for representing the vehicle position based on the positioning drift point determination result. The output positioning data can more accurately represent the actual position of the vehicle and avoid the loss of the vehicle's positioning track. Each sampling moment corresponds to an output positioning data, and the output positioning data can be the current sampled positioning data when the current sampled positioning data is a non-positioning drift point. The output positioning data can be the positioning data obtained by positioning compensation when the current sampled positioning data is a positioning drift point.

[0086] In the embodiments of the present application, since the vehicle's motion trend is generally continuous, the determination of whether the current sampled positioning data is a positioning drift point can be made based on the vehicle's motion trend. The vehicle's motion trend can be determined based on the historical output positioning data output by the vehicle. Therefore, when determining whether the current sampled positioning data is a positioning drift point, it is also necessary to obtain a set of historical output positioning data.

[0087] S203: When the vehicle is in a non-stationary state, the moving direction of the vehicle is predicted based on the historical output positioning data set to obtain a predicted moving direction change trend of the vehicle at the current sampling moment.

[0088] In this embodiment of the present application, before determining the predicted change trend of the vehicle's motion direction at the current sampling time based on the historical output positioning data set, it is necessary to obtain the vehicle's operating status to determine whether the vehicle is stationary. When the vehicle is stationary, its position does not change, so there is no need to determine the predicted change trend of the vehicle's motion direction at the current sampling time. However, if the vehicle is not stationary, the predicted change trend of the vehicle's motion direction at the current sampling time can be determined based on the historical output positioning data set.

[0089] In an embodiment of the present application, a historical output positioning data set includes at least two historical output positioning data of the vehicle, the sampling times corresponding to these historical output positioning data being earlier than the current sampling time and continuous with the current sampling time. When the vehicle is not stationary, the historical output positioning data in the historical output positioning data set can be paired to obtain one or more comparison arrays. The sampling times corresponding to the two historical output positioning data in the comparison array are adjacent. Specifically, each comparison array includes third historical output positioning data output by the vehicle at a previous historical sampling time and fourth historical output positioning data output at a subsequent historical sampling time. The previous historical sampling time is any sampling time, and the subsequent historical sampling time is before the previous historical sampling time and adjacent to the previous historical sampling time. After pairing the historical output positioning data in the historical output positioning data set to obtain comparison arrays, the third historical output positioning data in each comparison array is compared with the fourth historical output positioning data to obtain a data comparison result for each comparison array. Based on the data comparison results of each comparison array, the vehicle's movement direction is predicted, thereby obtaining a predicted movement direction change trend of the vehicle at the current sampling time. Optionally, each historical output positioning data includes longitude data and latitude data, and the data comparison results include longitude data comparison results and latitude data comparison results. When predicting the vehicle's direction of movement based on the data comparison results, the vehicle's longitude direction of movement can be determined based on the longitude data comparison results in each comparison array, and the vehicle's latitudinal direction of movement can be determined based on the latitude data comparison results in each comparison array. Then, based on the longitude and latitudinal directions of movement, the predicted trend of the vehicle's direction of movement at the current sampling moment is determined.

[0090] As an optional implementation, the output positioning data finally output by the vehicle can be recorded as (OutputLng, OutputLat). The historical output positioning data can be represented by (FilterLng[i], FilterLat[i]). Since the movement trend of the vehicle is generally continuous, that is, the increase or decrease trend of the longitude and latitude values ​​is continuous. Only when the heading becomes the true north-south direction, that is, the heading angle is 0 degrees or 180 degrees north-east, the change trend of the longitude value may change. When the heading becomes the true east-west direction, that is, the heading angle is 90 degrees or 270 degrees north-east, the change trend of the latitude value may change. As long as the vehicle is in a non-stationary state, at least one of the longitude and latitude data of the vehicle's location will change. Therefore, the movement trend of the vehicle can be determined by determining the increase or decrease trend of the longitude and latitude in the vehicle position data. Specifically, when determining the predicted movement direction change trend of the vehicle at the current sampling moment, the historical output positioning data corresponding to the historical sampling moment closest to the current sampling moment can be selected for determination. As an example, the historical output positioning data corresponding to the historical sampling time closest to the current sampling time is (FilterLng[3], FilterLat[3]) and (FilterLng[4], FilterLat[4]), and the sampling time corresponding to (FilterLng[3], FilterLat[3]) is earlier than the sampling time corresponding to (FilterLng[4], FilterLat[4]), that is, the sampling time corresponding to (FilterLng[4], FilterLat[4]) is continuous with the current sampling time. By comparing FilterLng[3] with FilterLng[4], the longitude data comparison result can be obtained. If FilterLng[3] is greater than FilterLng[4], the vehicle's position has a tendency to decrease in longitude. If FilterLng[3] is less than FilterLng[4], the vehicle's position has a tendency to increase in longitude. If FilterLng[3] is equal to FilterLng[4], the vehicle's position has a tendency to remain unchanged in longitude, that is, the vehicle is traveling due south or due north. By comparing FilterLat[3] with FilterLat[4], the latitude data comparison result can be obtained. If FilterLat[3] is greater than FilterLat[4], the vehicle's position has a tendency to decrease in latitude. If FilterLat[3] is less than FilterLat[4], the vehicle's position has a tendency to increase in latitude. If FilterLat[3] is equal to FilterLat[4], the vehicle's position has a tendency to remain unchanged in latitude, that is, the vehicle is traveling due east or due west.Through the above comparison, the trend of changes in the vehicle's longitude and latitude can be obtained, and then the predicted trend of changes in the vehicle's movement direction at the current sampling moment can be obtained. In some scenarios, such as when the vehicle is turning or changing lanes, there may be a certain degree of randomness in determining the vehicle's movement trend using only one comparison array. Therefore, it is possible to select historical output positioning data corresponding to multiple sampling moments before the current sampling moment to form multiple comparison arrays, for example, using 5-10 historical output positioning data, so as to determine the predicted trend of changes in the vehicle's movement direction at the current sampling moment based on the comparison results of multiple comparison arrays, thereby improving the reliability of the determination result.

[0091] It should be noted that when determining the predicted trend of the vehicle's movement direction change at the current sampling moment based on the comparison results of multiple comparison arrays, it is not necessarily the case that the comparison results of all comparison arrays are consistent. It may be the case that the longitude or latitude values ​​in one or several comparison arrays are equal. In this case, the trend of longitude and latitude changes can be determined based on the comparison results of all comparison arrays. That is, if FilterLng[3] is greater than or equal to FilterLng[4], it can be considered that the vehicle's position has a trend of decreasing longitude. If FilterLng[3] is less than or equal to FilterLng[4], it can be considered that the vehicle's position has a trend of increasing longitude. Similarly, if FilterLat[3] is greater than or equal to FilterLat[4], the vehicle's position has a trend of decreasing latitude. If FilterLat[3] is less than or equal to FilterLat[4], the vehicle's position has a trend of increasing latitude.

[0092] S205: Compare the current sampled positioning data with the first historical output positioning data to obtain a positioning movement direction change trend of the vehicle at the current sampling moment.

[0093] In an embodiment of the present application, the historical output positioning data set also includes the first historical output positioning data output by the vehicle at the first historical sampling moment, and the first historical sampling moment is a sampling moment that is located before the current sampling moment and adjacent to the current sampling moment. By comparing the current sampling positioning data with the first historical output positioning data, the positioning movement direction change trend of the vehicle at the current sampling moment can be obtained. Specifically, the position of the vehicle collected by the satellite positioning system at the current sampling moment can be the longitude and latitude of the vehicle's location, which can be recorded as (RawLng, RawLat). The first historical output positioning data can be recorded as (FilterLng[1], FilterLat[1]). By comparing RawLng with FilterLng[1], the longitude data comparison result can be obtained. If RawLng is less than FilterLng[1], the positioning movement direction change trend at the current sampling moment is a trend of decreasing longitude. If RawLng is greater than FilterLng[1], the positioning movement direction change trend at the current sampling moment is a trend of increasing longitude. If RawLng is equal to FilterLng[1], the trend of the positioning movement direction change at the current sampling moment is a trend of longitude not changing. Comparing RawLat with FilterLat[1] can obtain the latitude data comparison result. If RawLat is less than FilterLat[1], the trend of the positioning movement direction change at the current sampling moment is a trend of decreasing latitude. If RawLat is greater than FilterLat[1], the trend of the positioning movement direction change at the current sampling moment is a trend of increasing latitude. If RawLat is equal to FilterLat[1], the trend of the positioning movement direction change at the current sampling moment is a trend of constant latitude.

[0094] S207: Match the predicted movement direction change trend with the positioning movement direction change trend to obtain a direction matching result.

[0095] In an embodiment of the present application, after determining the predicted motion direction change trend and the positioning motion direction change trend, the predicted motion direction change trend is matched with the positioning motion direction change trend to obtain a direction matching result. When the predicted motion direction change trend is inconsistent with the positioning motion direction change trend, that is, the predicted motion direction change trend is inconsistent with the longitude change trend and / or latitude change trend of the positioning motion direction change trend, then the predicted motion direction change trend does not match the positioning motion direction change trend. At this time, it can be determined that the current sampled positioning data is unreliable and the current sampled positioning data is a positioning drift point. When the predicted motion direction change trend is consistent with the positioning motion direction change trend, that is, the predicted motion direction change trend is consistent with the longitude change trend and latitude change trend of the positioning motion direction change trend, then the predicted motion direction change trend matches the positioning motion direction change trend. In this case, it is explained that the current sampled positioning data may be a non-positioning drift point.

[0096] In some cases, although the predicted movement direction change trend matches the positioning movement direction change trend, the distance between the current sampled positioning data and the output positioning data determined at the previous sampling moment is significantly greater than the maximum distance the vehicle can reach within the sampling interval. In this case, the current sampled positioning data is also a positioning drift point. To improve the reliability of the positioning drift point determination results, the vehicle's movement distance can be further considered when determining whether the current sampled positioning data is a positioning drift point. Specifically, a vehicle movement distance threshold is first determined. The movement distance threshold can be calculated based on the vehicle's upper speed limit and the sampling time interval. As an example, assuming a vehicle speed limit of 120 km / h and a sampling time interval of 100 ms, the maximum distance traveled by the vehicle within this time interval is calculated to be 3.3 meters. By increasing redundancy by 1.2 times the maximum distance traveled, the vehicle movement distance threshold is 4 meters. In some embodiments, the movement distance threshold can also be calculated based on the vehicle's actual speed. Specifically, the vehicle's maximum speed within the sampling interval is obtained using the vehicle's wheel speed sensors. The movement distance threshold can be calculated based on the vehicle's maximum speed within the sampling interval and the sampling time interval. After determining the movement distance threshold, the distance between the current sampled positioning data and the output positioning data corresponding to the previous sampling moment is calculated using the distance formula between two points. This means that the vehicle's positioning movement distance at the current sampling moment is determined based on the current sampled positioning data and the first historical output positioning data. The positioning movement distance is then compared with the movement distance threshold to obtain a distance comparison result. If the positioning movement distance is greater than the movement distance threshold, it indicates that the current sampled positioning data has experienced significant drift and is considered a positioning drift point.

[0097] It should be noted that both the direction matching result and the distance comparison result can be used to determine the positioning drift point determination result corresponding to the current sampled positioning data. As long as either one does not meet the corresponding determination condition, the current sampled positioning data can be determined to be a positioning drift point.

[0098] S209: Determine the output positioning data corresponding to the vehicle at the current sampling moment according to the direction matching result.

[0099] In an embodiment of the present application, the output positioning data corresponding to the vehicle at the current sampling moment is determined based on the positioning drift point determination result. When the positioning drift point determination result is that the current sampled positioning data is a non-positioning drift point, the current sampled positioning data is determined as the output positioning data corresponding to the vehicle at the current sampling moment. When the positioning drift point determination result is that the current sampled positioning data is a positioning drift point, it is also necessary to determine the compensation positioning data at the current sampling moment, so that the compensation positioning data is determined as the output positioning data corresponding to the vehicle at the current sampling moment. The compensation positioning data can be calculated based on the historical output positioning data. Specifically, the historical output positioning data set also includes the second historical output positioning data output by the vehicle at the second historical sampling moment, and the second historical sampling moment is a sampling moment that is located before the first historical sampling moment and adjacent to the first historical sampling moment. When the positioning drift point determination result is that the current sampled positioning data is a positioning drift point, the positioning change data is determined based on the first historical output positioning data and the second historical output positioning data, and then the compensation positioning data at the current sampling moment is determined based on the first historical output positioning data and the positioning change data. As an example, the first historical output positioning data can be recorded as (FilterLng[1], FilterLat[1]), and the second historical output positioning data can be recorded as (FilterLng[2], FilterLat[2]). Then OutputLng = FilterLng[1] + {FilterLng[1] - FilterLng[2]}, and OutputLat = FilterLat[1] + {FilterLat[1] - FilterLat[2]}. (OutputLng, OutputLat) is the output positioning data corresponding to the vehicle at the current sampling time.

[0100] The method for determining vehicle output positioning data described in the embodiments of this application utilizes the characteristics of vehicle motion to filter out positioning drift points and compensate for missing points after filtering, thereby improving positioning accuracy and motion trajectory smoothness. This method improves positioning accuracy and motion trajectory smoothness without requiring additional hardware modules, thereby ensuring vehicle safety in V2X applications while reducing costs.

[0101] The embodiment of the present application also provides a device for determining vehicle output positioning data, Figure 3 FIG. 1 is a schematic diagram of a vehicle output positioning data determination device provided in an embodiment of the present application. Figure 3 As shown, the device includes:

[0102] An acquisition module 301 is configured to acquire a set of historical output positioning data of the vehicle and current sampling positioning data collected at a current sampling time; the set of historical output positioning data includes first historical output positioning data output by the vehicle at a first historical sampling time, where the first historical sampling time is a sampling time that is prior to and adjacent to the current sampling time;

[0103] The predicted movement direction change trend determination module 303 is used to predict the movement direction of the vehicle based on the historical output positioning data set when the vehicle is in a non-stationary state, and obtain the predicted movement direction change trend of the vehicle at the current sampling moment;

[0104] The positioning movement direction change trend determination module 305 is used to compare the current sampled positioning data with the first historical output positioning data to obtain the positioning movement direction change trend of the vehicle at the current sampling moment;

[0105] A direction matching result determination module 307 is used to match the predicted movement direction change trend with the positioning movement direction change trend to obtain a direction matching result;

[0106] The output positioning data determination module 309 is used to determine the output positioning data corresponding to the vehicle at the current sampling moment according to the direction matching result.

[0107] In some optional embodiments, the historical output positioning data set includes historical output positioning data output by the vehicle at at least two historical sampling moments that are located before the current sampling moment and are continuous with the current sampling moment; and the module for determining the trend of predicted movement direction changes includes:

[0108] a comparison array determination unit, configured to determine, when the vehicle is in a non-stationary state, at least one comparison array in a set of historical output positioning data; each comparison array comprising third historical output positioning data output by the vehicle at a previous historical sampling moment and fourth historical output positioning data output at a subsequent historical sampling moment; the previous historical sampling moment being any sampling moment, and the subsequent historical sampling moment being a moment before and adjacent to the previous historical sampling moment;

[0109] a data comparison result determination unit, configured to compare the third historical output positioning data with the fourth historical output positioning data in each comparison array to obtain a data comparison result for each comparison array;

[0110] The predicted movement direction change trend determination unit is used to predict the movement direction of the vehicle based on the data comparison results of each comparison array, and obtain the predicted movement direction change trend of the vehicle at the current sampling moment.

[0111] In some optional embodiments, each historical output positioning data includes longitude data and latitude data; the data comparison result includes a longitude data comparison result and a latitude data comparison result; and the unit for determining a trend of change in predicted movement direction includes:

[0112] a longitude movement direction determination subunit, configured to determine the longitude movement direction of the vehicle based on the comparison results of the longitude data in each comparison array;

[0113] a latitudinal motion direction determination subunit, configured to determine the latitudinal motion direction of the vehicle based on the comparison results of the latitude data in each comparison array;

[0114] The predicted movement direction change trend determination subunit is used to determine the predicted movement direction change trend of the vehicle at the current sampling moment based on the longitude movement direction and the latitude movement direction.

[0115] In some optional implementations, the output positioning data determination module includes:

[0116] a movement distance threshold determination unit, configured to determine a movement distance threshold of the vehicle;

[0117] a positioning movement distance determination unit, configured to determine the positioning movement distance of the vehicle at a current sampling moment based on the current sampled positioning data and the first historical output positioning data;

[0118] A distance comparison result determination unit is used to compare the positioning movement distance with the movement distance threshold to obtain a distance comparison result;

[0119] A positioning drift point determination result determination unit, configured to determine a positioning drift point determination result corresponding to the current sampled positioning data based on a direction matching result and / or a distance comparison result;

[0120] The output positioning data determination unit is used to determine the output positioning data corresponding to the vehicle at the current sampling moment according to the positioning drift point determination result.

[0121] In some optional implementations, the output positioning data determination unit includes:

[0122] The output positioning data determination subunit is used to determine the current sampled positioning data as the output positioning data corresponding to the vehicle at the current sampling moment when the positioning drift point determination result is that the current sampled positioning data is a non-positioning drift point.

[0123] In some optional embodiments, the historical output positioning data set further includes second historical output positioning data output by the vehicle at a second historical sampling moment, where the second historical sampling moment is a sampling moment that is before the first historical sampling moment and adjacent to the first historical sampling moment. The output positioning data determining unit includes:

[0124] a compensation positioning data determination subunit, configured to determine the compensation positioning data at the current sampling moment based on the first historical output positioning data and the second historical output positioning data when the positioning drift point determination result indicates that the current sampled positioning data is a positioning drift point;

[0125] The output positioning data determination subunit is used to determine the compensated positioning data as the output positioning data corresponding to the vehicle at the current sampling moment.

[0126] In some optional embodiments, the compensated positioning data determination subunit includes:

[0127] a positioning change data determination subunit, configured to determine positioning change data based on the first historical output positioning data and the second historical output positioning data when the positioning drift point determination result indicates that the current sampled positioning data is a positioning drift point;

[0128] The compensated positioning data determination subunit is used to determine the compensated positioning data at the current sampling moment according to the first historical output positioning data and the positioning change data.

[0129] The vehicle output location data determination device and the vehicle output location data determination method embodiments in the present application are based on the same application concept. For the specific implementation of the vehicle output location data determination device, please refer to the above description of all the implementation methods of the vehicle output location data determination method, which will not be repeated here.

[0130] An embodiment of the present application also provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded by the processor and executes the vehicle output positioning data determination method described above.

[0131] The vehicle output positioning data determination method embodiment provided in the embodiment of the present application can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Taking running on a server as an example, Figure 4 This is a hardware structure diagram of a server for a method for determining vehicle output positioning data provided by an embodiment of the present application. Figure 4As shown, the server 400 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPUs) 410 (the processor 410 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device (Field Programmable Gate Array, FPGA)), a memory 430 for storing data, and one or more storage media 420 for storing application programs 423 or data 422 (for example, one or more mass storage devices). Among them, the memory 430 and the storage medium 420 can be temporary storage or permanent storage. The program stored in the storage medium 420 may include one or more modules, each module may include a series of instruction operations on the server. Furthermore, the central processing unit 410 can be configured to communicate with the storage medium 420 to execute a series of instruction operations in the storage medium 420 on the server 400. The server 400 may also include one or more power supplies 460, one or more wired or wireless network interfaces 450, one or more input and output interfaces 440, and / or one or more operating systems 421, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0132] The input / output interface 440 can be used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by the communication provider of the server 400. In one embodiment, the input / output interface 440 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one embodiment, the input / output interface 440 can be a radio frequency (RF) module for wirelessly communicating with the Internet.

[0133] It can be understood by those skilled in the art that Figure 4 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 4 More or fewer components than shown, or with Figure 4 Different configurations shown.

[0134] An embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction or at least one program. The at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle output positioning data determination method as described above.

[0135] In an embodiment of the present application, the computer storage medium may be located in at least one of a plurality of network servers in a computer network. Optionally, the computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid-state drive (SSD), or an optical disk. Among them, the random access memory may include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM).

[0136] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0137] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0138] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0139] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for determining vehicle output positioning data, characterized in that: The method comprises: Obtaining a set of historical output positioning data of the vehicle and current sampling positioning data collected at a current sampling moment; the set of historical output positioning data includes first historical output positioning data output by the vehicle at a first historical sampling moment, where the first historical sampling moment is a sampling moment that is before the current sampling moment and adjacent to the current sampling moment; When the vehicle is in a non-stationary state, predicting the movement direction of the vehicle based on the historical output positioning data set, and obtaining a predicted movement direction change trend of the vehicle at the current sampling moment; Comparing the current sampled positioning data with the first historical output positioning data to obtain a positioning movement direction change trend of the vehicle at the current sampling moment; Matching the predicted movement direction change trend with the positioned movement direction change trend to obtain a direction matching result; According to the direction matching result, output positioning data corresponding to the vehicle at the current sampling moment is determined.

2. The method according to claim 1, characterized in that The historical output positioning data set includes historical output positioning data output by the vehicle at at least two historical sampling moments that are prior to the current sampling moment and continuous with the current sampling moment; and when the vehicle is in a non-stationary state, predicting the movement direction of the vehicle based on the historical output positioning data set to obtain a change trend of the predicted movement direction of the vehicle at the current sampling moment includes: When the vehicle is in a non-stationary state, at least one comparison array is determined in the historical output positioning data set; each comparison array includes third historical output positioning data output by the vehicle at a previous historical sampling moment and fourth historical output positioning data output at a subsequent historical sampling moment; the previous historical sampling moment is any sampling moment, and the subsequent historical sampling moment is located before the previous historical sampling moment and is adjacent to the previous historical sampling moment; Comparing the third historical output positioning data with the fourth historical output positioning data in each comparison array to obtain a data comparison result of each comparison array; The moving direction of the vehicle is predicted based on the data comparison result of each comparison array, and the predicted moving direction change trend of the vehicle at the current sampling moment is obtained.

3. The method according to claim 2, characterized in that Each of the historical output positioning data includes longitude data and latitude data; the data comparison results include longitude data comparison results and latitude data comparison results; predicting the movement direction of the vehicle based on the data comparison results of each comparison array to obtain the predicted movement direction change trend of the vehicle at the current sampling moment includes: Determining the longitude direction of movement of the vehicle according to the comparison results of the longitude data in each comparison array; determining the latitudinal direction of movement of the vehicle according to the comparison results of the latitude data in each comparison array; The predicted movement direction change trend of the vehicle at the current sampling moment is determined based on the longitude movement direction and the latitude movement direction.

4. The method according to claim 1, wherein Determining the output positioning data of the vehicle corresponding to the current sampling moment according to the direction matching result includes: Determining a movement distance threshold of the vehicle; Determining a positioning movement distance of the vehicle at the current sampling moment based on the current sampled positioning data and the first historical output positioning data; Comparing the positioning movement distance with the movement distance threshold to obtain a distance comparison result; Determine a positioning drift point determination result corresponding to the current sampled positioning data according to the direction matching result and / or the distance comparison result; According to the positioning drift point determination result, the output positioning data of the vehicle corresponding to the current sampling moment is determined.

5. The method according to claim 4, characterized in that Determining the output positioning data of the vehicle corresponding to the current sampling moment according to the positioning drift point determination result includes: When the positioning drift point determination result is that the current sampled positioning data is a non-positioning drift point, the current sampled positioning data is determined as the output positioning data corresponding to the vehicle at the current sampling moment.

6. The method according to claim 4, characterized in that The historical output positioning data set also includes second historical output positioning data output by the vehicle at a second historical sampling moment, where the second historical sampling moment is a sampling moment that is before the first historical sampling moment and adjacent to the first historical sampling moment; Determining the output positioning data of the vehicle corresponding to the current sampling moment according to the positioning drift point determination result includes: When the positioning drift point determination result indicates that the current sampled positioning data is a positioning drift point, determining the compensated positioning data at the current sampling moment according to the first historical output positioning data and the second historical output positioning data; The compensated positioning data is determined as the output positioning data corresponding to the vehicle at the current sampling moment.

7. The method according to claim 6, characterized in that When the positioning drift point determination result indicates that the current sampled positioning data is a positioning drift point, determining the compensated positioning data at the current sampling moment according to the first historical output positioning data and the second historical output positioning data includes: When the positioning drift point determination result is that the current sampled positioning data is a positioning drift point, determining positioning change data according to the first historical output positioning data and the second historical output positioning data; The compensated positioning data at the current sampling moment is determined according to the first historical output positioning data and the positioning change data.

8. A vehicle output positioning data determination device, characterized in that: The device comprises: an acquisition module, configured to acquire a set of historical output positioning data of the vehicle and current sampling positioning data collected at a current sampling moment; the set of historical output positioning data includes first historical output positioning data output by the vehicle at a first historical sampling moment, the first historical sampling moment being a sampling moment that is prior to the current sampling moment and adjacent to the current sampling moment; a predicted movement direction change trend determination module, configured to predict the movement direction of the vehicle based on the historical output positioning data set when the vehicle is in a non-stationary state, and obtain the predicted movement direction change trend of the vehicle at the current sampling moment; a positioning movement direction change trend determination module, configured to compare the currently sampled positioning data with the first historical output positioning data to obtain a positioning movement direction change trend of the vehicle at the current sampling moment; a direction matching result determination module, configured to match the predicted movement direction change trend with the positioned movement direction change trend to obtain a direction matching result; The output positioning data determination module is used to determine the output positioning data corresponding to the vehicle at the current sampling moment according to the direction matching result.

9. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the vehicle output positioning data determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the vehicle output positioning data determination method according to any one of claims 1 to 7.

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