Vehicle driving direction determination method, device, storage medium and vehicle

Abstract

Embodiments of the present invention disclose a method, device, storage medium, and vehicle for determining vehicle driving direction, belonging to the field of vehicle technology. The method includes: determining the current operating state of the corresponding vehicle in real time based on acceleration-related values ​​and wheel speed detection values; when the current operating state is stationary, calculating the average of the acceleration-related values ​​within the current stationary period to obtain a current driving direction-related value; when the current operating state is driving, calculating the average of the acceleration-related values ​​within a preset time window period including the current moment to obtain a current driving direction-related value; and when the current operating state is driving and the operating state at the previous moment was stationary, determining the vehicle's current driving direction based on the magnitude of the current driving direction-related value and the driving direction-related value corresponding to the previous moment. Embodiments of the present invention can accurately determine the vehicle's driving direction at a low cost without the assistance of a satellite positioning system.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method and device for determining a vehicle's driving direction, a storage medium, and a vehicle. Background Art

[0002] Existing technologies determine a vehicle's direction of travel by combining position, speed, and attitude information provided by a global navigation satellite positioning system (GNSS), inertial sensors, and odometers. Alternatively, they use the GNSS's dual-antenna heading and speed heading to assist in determining forward or reverse direction. However, in some driving scenarios, satellite signals may be lacking, or if some vehicles lack a satellite positioning system, accurate direction of travel cannot be determined. Summary of the Invention

[0003] Embodiments of the present invention provide a vehicle driving direction determination method, device, storage medium, and vehicle, which can accurately determine the vehicle's operating status and accurately determine the vehicle's driving direction at a low cost without the assistance of a satellite positioning system, thereby providing a basis for the stable operation of an on-board dead reckoning algorithm.

[0004] In a first aspect, an embodiment of the present invention provides a method for determining a vehicle's driving direction, comprising: determining in real time whether the current operating state of the corresponding vehicle is a stationary state or a driving state based on an acceleration-related value output by an on-board inertial sensor and a wheel speed detection value output by an on-board odometer; when the current operating state of the vehicle is a stationary state, calculating the average of the acceleration-related values ​​within a current stationary period to obtain a current driving direction-related value, wherein the current stationary period is a period in which the vehicle continuously maintains the stationary state until a current moment; when the current operating state of the vehicle is a driving state, calculating the average of the acceleration-related values ​​within a preset time sliding window period including the current moment to obtain the current driving direction-related value; and when the current operating state of the vehicle is a driving state and the operating state of the vehicle at the previous moment was a stationary state, determining the current driving direction of the vehicle based on the magnitude of the current driving direction-related value and the driving direction-related value corresponding to the previous moment.

[0005] In a second aspect, an embodiment of the present invention provides a vehicle driving direction determination device, comprising: a driving state determination module for determining in real time whether the current driving state of a corresponding vehicle is a stationary state or a driving state based on acceleration-related values ​​output by an on-board inertial sensor and wheel speed detection values ​​output by an on-board odometer; a first calculation module for calculating, when the current driving state of the vehicle is a stationary state, an average of the acceleration-related values ​​within a current stationary period to obtain a current driving direction-related value, wherein the current stationary period is a period during which the vehicle continuously maintains the stationary state until a current moment; a second calculation module for calculating, when the current driving state of the vehicle is a driving state, an average of the acceleration-related values ​​within a preset time sliding window period including the current moment to obtain the current driving direction-related value; and a driving direction determination module for determining the current driving direction of the vehicle based on the magnitudes of the current driving direction-related value and the driving direction-related value corresponding to the previous moment, when the current driving state of the vehicle is a driving state and the vehicle's driving state at a previous moment was a stationary state.

[0006] In a third aspect, an embodiment of the present invention further provides a vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for determining the driving direction of a vehicle as described in any one of the embodiments of the present invention is implemented.

[0007] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for determining a vehicle driving direction as described in any one of the embodiments of the present invention.

[0008] The present invention provides a method, device, storage medium, and vehicle for determining vehicle driving direction. These methods utilize the output values ​​of an on-board inertial sensor and an on-board odometer to determine the current operating state of the corresponding vehicle, thereby making the determination of the vehicle's stationary and driving states more accurate. Furthermore, by analyzing the relationship between acceleration-related values ​​output by the inertial sensor when the vehicle is stationary and in driving, the method can accurately determine the vehicle's driving direction without the assistance of a satellite positioning system, or when the inertial sensor alone cannot determine the vehicle's stationary state or can only provide an erroneous determination of the vehicle's stationary state. This method also reduces costs by eliminating the need for additional sensors. Furthermore, the method provides a stable operating foundation for an on-board dead reckoning algorithm that utilizes inertial sensor and odometer output data and is based on vehicle forward and reverse motion information. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 This is a flow chart of a method for determining a vehicle's driving direction provided by an embodiment of the present invention;

[0011] Figure 2 is another flow chart of a method for determining a vehicle's driving direction provided by an embodiment of the present invention;

[0012] Figure 3 is another flow chart of the method for determining the vehicle driving direction provided by an embodiment of the present invention;

[0013] Figure 4 This is a schematic structural diagram of a vehicle driving direction determination device provided by an embodiment of the present invention;

[0014] Figure 5 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0016] In-vehicle integrated navigation systems, commonly used sensors include a Global Navigation Satellite System (GNSS) positioning module, an Inertial Measurement Unit (IMU) module, and an odometer module. These three modules provide navigation information sources, providing the vehicle with accurate and stable position, speed, and attitude information. Before entering the integrated navigation system, the system typically uses the dual-antenna heading and speed heading of the GNSS to assist in determining forward or reverse direction. After entering the integrated navigation system, the system uses the position, speed, and attitude information provided by the integrated navigation system in real time for determination. However, in some driving scenarios, such as when a vehicle is operating in an underground garage, there may be a lack of satellite signals. Alternatively, when some vehicles lack a satellite positioning system, it is impossible to accurately determine the vehicle's direction of travel. Existing technologies offer few methods for determining forward or reverse direction in vehicles without GNSS assistance.

[0017] Dead Reckoning (DR) algorithms use information from inertial sensors and odometers to estimate the vehicle's relative position relative to a starting point. Since most odometers on the market output positive values, accurately determining whether the vehicle is moving forward or backward is essential for the stable operation of the DR algorithm.

[0018] The present invention provides a method, device, storage medium, and vehicle for determining vehicle driving direction. These methods utilize the output values ​​of an on-board inertial sensor and an on-board odometer to determine the current operating state of the corresponding vehicle, making the determination of the vehicle's stationary and driving states more accurate. Furthermore, by analyzing the relationship between the acceleration-related values ​​output by the inertial sensor when the vehicle is stationary and in driving, the method can accurately determine the vehicle's driving direction without the assistance of a satellite positioning system, without adding other sensors, and at a relatively low cost. Furthermore, the method can provide a stable operating foundation for on-board dead reckoning algorithms that utilize inertial sensor and odometer output data and are based on vehicle forward and reverse information. Furthermore, the method can perform forward and reverse determination, assist in speed and heading alignment, and initialize alignment for reverse driving, even before a conventional integrated navigation system enters initial alignment.

[0019] Figure 1 This is a flow chart of a method for determining the direction of vehicle travel provided by an embodiment of the present invention. This method can be executed by the method for determining the direction of vehicle travel provided by an embodiment of the present invention. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer, a server, a vehicle client, etc. The following embodiments will be described using the device integrated into a vehicle client as an example. Figure 1 , the method may specifically include the following steps:

[0020] Step 101 , based on the acceleration-related values ​​output by the vehicle-mounted inertial sensor and the wheel speed detection values ​​output by the vehicle-mounted odometer, a real-time judgment is made as to whether the current operating state of the corresponding vehicle is a stationary state or a driving state, which can facilitate obtaining the current driving direction-related values ​​in a corresponding manner according to the corresponding operating state.

[0021] Specifically, the above-mentioned driving direction may also include forward, backward, stationary, left turn and right turn.

[0022] Preferably, the current driving direction of the vehicle includes forward, backward and stationary.

[0023] Optionally, the acceleration-related value includes a forward axis added value output of an on-board inertial sensor.

[0024] Specifically, the above-mentioned vehicle-mounted inertial sensor may include multiple axes, and the data it outputs may include acceleration-related data, earth rotation angle data and other data. The present invention uses the forward axis added output value related to the acceleration of the corresponding vehicle as the acceleration-related value.

[0025] In an optional embodiment of the present invention, Figure 3 As shown, the above-mentioned process of real-time judgment of whether the current running state of the corresponding vehicle is a stationary state or a driving state based on the acceleration-related value output by the vehicle-mounted inertial sensor and the wheel speed detection value output by the vehicle-mounted odometer includes: pre-judging whether the current running state of the vehicle is a stationary state based on the acceleration-related value to obtain a pre-judged vehicle running state; when the pre-judgment vehicle running state is a stationary state, directly judging the current running state of the vehicle as a stationary state; when the pre-judgment vehicle running state is a non-stationary state, judging whether the wheel speed detection value is valid; and, if the wheel speed detection value is valid, judging the current running state of the vehicle based on whether the wheel speed detection value is less than a preset wheel speed detection value threshold, if it is less than, judging the current running state of the vehicle as a stationary state, and judging the current running state of the vehicle as a driving state if it is not less than.

[0026] Optionally, if the wheel speed detection value is less than the preset wheel speed detection value threshold, the wheel speed detection value is output as 0.

[0027] Specifically, since there is a dead zone or delay in the output of the wheel speed, and the vibration of the vehicle will also increase the output value of the wheel speed, the output value of the wheel speed may not be 0 even if the vehicle is stationary.

[0028] Optionally, when the current running state of the vehicle is a stationary state, the current driving direction of the vehicle is determined to be stationary.

[0029] Step 102 : When the current running state of the vehicle is a stationary state, the current driving direction related value is obtained by calculating the average value of the acceleration related value in the current stationary period. The current stationary period is the period when the vehicle remains stationary until the current moment.

[0030] Optional, such as Figure 3 As shown, the pre-judgment vehicle operating state is obtained by judging the current operating state of the vehicle based on the acceleration-related values ​​output by the inertial sensor. When the vehicle is judged to be in a stationary state, the average value of the acceleration-related values ​​in the current stationary period is calculated and saved.

[0031] Optional, such as Figure 3As shown, when it is determined that the current running state of the vehicle is not a stationary state based on the acceleration-related value output by the inertial sensor and the wheel speed detection value output by the odometer, and the output value of the wheel speed is 0, the average value of the above-mentioned acceleration-related values ​​during the period when the wheel speed detection value is continuously 0 is calculated and saved.

[0032] Step 103 : When the current running state of the vehicle is the driving state, the average value of the acceleration-related values ​​within the preset time sliding window period including the current moment is calculated to obtain the current driving direction-related value.

[0033] Optionally, during the operation of the vehicle, the above-mentioned preset time sliding window is continuously used to obtain acceleration-related values ​​and calculate the average value, so as to grasp the changes in the acceleration of the vehicle in real time.

[0034] Optionally, the length of the time sliding window may be set to 0.01s-1s.

[0035] Specifically, step 102 and step 103 can calculate the current driving direction related value of the vehicle in different states, which can be used to analyze and obtain the vehicle's driving direction, and then can be used to analyze and determine the current driving direction of the corresponding vehicle based on the current driving direction related value.

[0036] In step 104, when the vehicle's current operating state is driving and its previous operating state was stationary, the vehicle's current driving direction is determined based on the magnitude of the current driving direction-related value and the driving direction-related value corresponding to the previous moment. This method can accurately determine the vehicle's driving direction without the assistance of a satellite positioning system, without adding other sensors, and at a low cost, further providing a foundation for the stable operation of the onboard dead reckoning algorithm.

[0037] In an optional embodiment of the present invention, Figure 3 As shown, the above process of judging the current driving direction of the vehicle based on the size of the current driving direction related value and the driving direction related value corresponding to the previous moment includes: calculating the difference between the current driving direction related value and the driving direction related value corresponding to the previous moment; and if the difference is greater than 0, the current driving direction of the vehicle is determined to be forward; otherwise, the current driving direction of the vehicle is determined to be backward.

[0038] Optionally, the process of determining the current driving direction of the vehicle based on the current driving direction-related value and the driving direction-related value corresponding to the previous moment includes:

[0039] The ratio of the current driving direction related value to the driving direction related value corresponding to the previous moment is subtracted. If the ratio is greater than 1, the current driving direction of the vehicle is determined to be forward; otherwise, the current driving direction of the vehicle is determined to be reverse.

[0040] The following further introduces a method for determining the vehicle driving direction in another optional specific embodiment of the present invention. Figure 2 and Figure 3 As shown, the following steps may be included:

[0041] Step 201 : Preliminarily determine whether the current running state of the vehicle is a stationary state based on the acceleration-related value to obtain a pre-determined vehicle running state.

[0042] Step 202 : When the vehicle running state is pre-determined to be a stationary state, the current running state of the vehicle is directly determined to be a stationary state.

[0043] Step 203: When it is pre-determined that the vehicle running state is a non-stationary state, it is determined whether the wheel speed detection value is valid.

[0044] Step 204: If the wheel speed detection value is invalid, the current driving direction of the vehicle is determined to be the driving direction of the vehicle at the previous moment.

[0045] Specifically, the invalid wheel speed detection value may be caused by the difference between the period of the wheel speed detection value output by the odometer and the period of the acceleration-related value output by the inertial sensor. For example, the period of the wheel speed detection value output by the odometer is 0.2s, and the period of the acceleration-related value output by the inertial sensor is 0.01s. The wheel speed detection value measured during the interval between the two acceleration-related values ​​output by the inertial sensor is invalid. It may also be caused by a system problem. For example, when the wheel speed detection value at the previous moment is 5m / s and the wheel speed detection value at the next moment is 100m / s, it must be caused by a system problem. At this time, it is impossible to determine the current operating state of the vehicle based on the wheel speed, and then determine the vehicle's driving direction. Therefore, according to the vehicle's operating rules, the vehicle's current driving direction is determined to be the same as the previous moment.

[0046] Step 205: If the wheel speed detection value is valid, the current running state of the vehicle is determined based on whether the wheel speed detection value is less than the preset wheel speed detection value threshold. If it is less than, the current running state of the vehicle is determined to be a stationary state; if it is not less than, the current running state of the vehicle is determined to be a driving state.

[0047] Step 206 , when the current running state of the vehicle is a stationary state, the current driving direction related value is obtained by calculating the average value of the acceleration related value in the current stationary period, where the current stationary period is the period when the vehicle remains stationary until the current moment.

[0048] Step 207 : When the current running state of the vehicle is the driving state, the average value of the acceleration-related values ​​within the preset time sliding window period including the current moment is calculated to obtain the current driving direction-related value.

[0049] Step 208: When the current running state of the vehicle is the driving state and the running state of the vehicle at the previous moment is the stationary state, the current driving direction of the vehicle is determined based on the current driving direction related value and the driving direction related value corresponding to the previous moment.

[0050] Step 209: When the current running state of the vehicle and the running state corresponding to the last moment are both the driving state, the current driving direction of the vehicle is determined to be the driving direction of the vehicle at the last moment.

[0051] Optional, such as Figure 3 As shown, when it is determined based on the acceleration-related values ​​output by the inertial sensor and the wheel speed detection values ​​output by the odometer that the vehicle is continuously in a moving state, the vehicle's moving direction is always determined to be the same as that at the previous moment, specifically forward or backward, until it is determined based on the acceleration-related values ​​output by the inertial sensor or based on the acceleration-related values ​​output by the inertial sensor and the wheel speed detection values ​​output by the odometer that the vehicle is in a stationary state, and step 201 is restarted.

[0052] The embodiments of the present invention can quickly and accurately determine the current driving direction of the vehicle when the vehicle's driving state has not changed, which is conducive to accurately determining the current driving direction of the vehicle as a whole.

[0053] Figure 4 This is a structural diagram of a vehicle driving direction determination device provided by an embodiment of the present invention, which is suitable for executing a vehicle driving direction determination method provided by an embodiment of the present invention. Figure 4 As shown, the device may specifically include:

[0054] The operating state judgment module 401 is used to determine in real time whether the current operating state of the corresponding vehicle is a stationary state or a driving state based on the acceleration-related values ​​output by the on-board inertial sensor and the wheel speed detection values ​​output by the on-board odometer, which can facilitate obtaining the current driving direction-related values ​​in a corresponding manner according to the corresponding operating state.

[0055] The first calculation module 402 is used to calculate the average value of the acceleration related values ​​in the current static period to obtain the current driving direction related value when the current running state of the vehicle is static. The current static period is the period when the vehicle remains static until the current moment.

[0056] The second calculation module 403 is used to calculate the average value of the acceleration related values ​​within the preset time sliding window period including the current moment when the current operating state of the vehicle is the driving state, and obtain the current driving direction related value.

[0057] The first calculation module 402 and the second calculation module 403 can calculate the current driving direction related value of the vehicle in different states, which can be used to analyze and obtain the vehicle's driving direction, and then can be used to analyze and determine the current driving direction of the corresponding vehicle based on the current driving direction related value.

[0058] Driving direction determination module 404 is used to determine the vehicle's current driving direction based on the magnitude of the current driving direction-related value and the driving direction-related value corresponding to the previous moment when the vehicle's current operating state is driving and the vehicle's operating state at the previous moment was stationary. This module can accurately determine the vehicle's driving direction without the assistance of a satellite positioning system, without adding other sensors, and at a low cost, thereby providing a foundation for the stable operation of the on-board dead reckoning algorithm.

[0059] In an optional specific embodiment of the present invention, the operating state judgment module 401 can be specifically used to: pre-judge whether the current operating state of the vehicle is a stationary state based on the acceleration-related value to obtain a pre-judged vehicle operating state; when the vehicle operating state is pre-judged to be a stationary state, directly judge the current operating state of the vehicle as a stationary state; when the vehicle operating state is pre-judged to be a non-stationary state, judge whether the wheel speed detection value is valid; and, if the wheel speed detection value is valid, judge the current operating state of the vehicle based on whether the wheel speed detection value is less than a preset wheel speed detection value threshold; if it is less than, judge the current operating state of the vehicle as a stationary state, and if it is not less than, judge the current operating state of the vehicle as a driving state.

[0060] In an optional specific embodiment of the present invention, the acceleration-related value includes a forward axis added value output of an on-board inertial sensor.

[0061] In an optional specific embodiment of the present invention, the driving direction judgment module 404 can be specifically used to calculate the difference between the current driving direction related value and the driving direction related value corresponding to the previous moment; and if the difference is greater than 0, the current driving direction of the vehicle is determined to be forward; otherwise, the current driving direction of the vehicle is determined to be reverse.

[0062] In an optional specific embodiment of the present invention, the driving direction determination module 404 can also be specifically configured to determine the current driving direction of the vehicle as being stationary when the current running state of the vehicle is a stationary state.

[0063] In an optional specific embodiment of the present invention, the driving direction determination module 404 can also be specifically configured to determine the current driving direction of the vehicle as the driving direction of the vehicle at the previous moment if the wheel speed detection value is invalid.

[0064] In an optional specific embodiment of the present invention, the above-mentioned driving direction judgment module 404 can also be specifically used to determine the current driving direction of the vehicle as the driving direction of the vehicle at the previous moment when the current operating state of the vehicle and the corresponding operating state at the previous moment are both driving states.

[0065] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0066] An embodiment of the present invention also provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the vehicle driving direction determination method provided in any of the above embodiments is implemented.

[0067] An embodiment of the present invention further provides a computer-readable medium having a computer program stored thereon, and when the program is executed by a processor, the method for determining the vehicle driving direction provided by any of the above embodiments is implemented.

[0068] Reference below Figure 5 , which shows a schematic structural diagram of a client computer system 500 of a vehicle suitable for implementing an embodiment of the present invention. Figure 5 The vehicle client shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0069] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage unit 508 into a random access memory (RAM) 503. Various programs and data required for the operation of the system 500 are also stored in the RAM 503. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0070] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including a hard disk; and a communication section 509 including a network interface card such as a LAN card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read therefrom can be installed into the storage section 508 as needed.

[0071] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 509, and / or installed from a removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present invention are performed.

[0072] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0073] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0074] The modules and / or units described in the embodiments of the present invention may be implemented in software or hardware. The modules and / or units described may also be provided within a processor. For example, a processor may be described as comprising an operating status determination module, a first calculation module, a second calculation module, and a driving direction determination module. The names of these modules do not, in some cases, limit the modules themselves.

[0075] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiment, or may exist independently and not incorporated into the device. The computer-readable medium carries one or more programs, which, when executed by the device, enable the device to: determine in real time whether the current operating state of a corresponding vehicle is a stationary state or a driving state based on acceleration-related values ​​output by an onboard inertial sensor and wheel speed detection values ​​output by an onboard odometer; when the current operating state of the vehicle is a stationary state, calculate the average of the acceleration-related values ​​within the current stationary period to obtain a current driving direction-related value, where the current stationary period is the period from when the vehicle remained stationary until the current moment; when the current operating state of the vehicle is a driving state, calculate the average of the acceleration-related values ​​within a preset time window period including the current moment to obtain a current driving direction-related value; and when the current operating state of the vehicle is a driving state and the vehicle's operating state at the previous moment was a stationary state, determine the current driving direction of the vehicle based on the magnitude of the current driving direction-related value and the driving direction-related value corresponding to the previous moment.

[0076] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for determining a vehicle's driving direction, characterized in that: include: Based on the acceleration-related values ​​output by the on-board inertial sensor and the wheel speed detection values ​​output by the on-board odometer, a real-time judgment is made as to whether the current operating state of the corresponding vehicle is a stationary state or a driving state; When the current running state of the vehicle is a stationary state, calculating an average of the acceleration-related values ​​within a current stationary period to obtain a current driving direction-related value, the current stationary period being a period during which the vehicle continuously maintains the stationary state until a current moment, the acceleration-related values ​​including a forward axis added-on output value of the vehicle-mounted inertial sensor; When the current operating state of the vehicle is a driving state, calculating the average of the acceleration-related values ​​within a preset time sliding window period including the current moment to obtain the current driving direction-related value; as well as When the current running state of the vehicle is a driving state and the running state of the vehicle at the previous moment is a stationary state, judging the current driving direction of the vehicle according to the magnitude of the current driving direction related value and the driving direction related value corresponding to the previous moment; The process of determining in real time whether the current running state of the corresponding vehicle is a stationary state or a driving state based on the acceleration-related value output by the vehicle-mounted inertial sensor and the wheel speed detection value output by the vehicle-mounted odometer includes: Pre-judging whether the current running state of the vehicle is a stationary state according to the acceleration-related value to obtain a pre-judged vehicle running state; When the vehicle running state is pre-determined to be a stationary state, directly determining the current running state of the vehicle as a stationary state; When the pre-judgment vehicle running state is a non-stationary state, judging whether the wheel speed detection value is valid; and If the wheel speed detection value is valid, the current running state of the vehicle is determined based on whether the wheel speed detection value is less than a preset wheel speed detection value threshold; if so, the current running state of the vehicle is determined to be a stationary state; if not, the current running state of the vehicle is determined to be a driving state; The process of determining the current driving direction of the vehicle based on the current driving direction related value and the driving direction related value corresponding to the previous moment includes: Calculating a difference between the current driving direction related value and the driving direction related value corresponding to the previous moment; and If the difference is greater than 0, the current driving direction of the vehicle is determined to be forward; otherwise, the current driving direction of the vehicle is determined to be reverse; The vehicle driving direction determination method further includes: if the wheel speed detection value is invalid, determining the current driving direction of the vehicle as the driving direction of the vehicle at the previous moment; and When the current running state of the vehicle is a stationary state, the current traveling direction of the vehicle is determined to be stationary.

2. The method for determining the vehicle driving direction according to claim 1, wherein: Also includes: When the current running state of the vehicle and the running state corresponding to the last moment are both the driving state, the current driving direction of the vehicle is determined to be the driving direction of the vehicle at the last moment.

3. A vehicle driving direction determination device, used to execute the vehicle driving direction determination method according to claim 1 or 2, characterized in that: include: The running state judgment module is used to judge in real time whether the current running state of the corresponding vehicle is a stationary state or a driving state based on the acceleration-related value output by the vehicle-mounted inertial sensor and the wheel speed detection value output by the vehicle-mounted odometer; a first calculation module, configured to calculate, when the current running state of the vehicle is a stationary state, an average value of the acceleration-related values ​​within a current stationary period to obtain a current driving direction-related value, wherein the current stationary period is a period during which the vehicle continuously maintains the stationary state until a current moment; a second calculation module, configured to calculate, when the current operating state of the vehicle is a driving state, an average of the acceleration-related values ​​within a preset time sliding window period including the current moment, to obtain the current driving direction-related value; as well as a driving direction determination module, configured to determine the current driving direction of the vehicle based on the magnitude of the current driving direction-related value and the driving direction-related value corresponding to the previous moment, when the current running state of the vehicle is the driving state and the running state of the vehicle at the previous moment was the stationary state; The running state judgment module is specifically used to pre-judge whether the current running state of the vehicle is a stationary state according to the acceleration related value to obtain a pre-judged vehicle running state; When the vehicle running state is pre-determined to be a stationary state, directly determining the current running state of the vehicle as a stationary state; When the pre-judgment vehicle running state is a non-stationary state, judging whether the wheel speed detection value is valid; as well as If the wheel speed detection value is valid, the current running state of the vehicle is determined based on whether the wheel speed detection value is less than a preset wheel speed detection value threshold; if so, the current running state of the vehicle is determined to be a stationary state; if not, the current running state of the vehicle is determined to be a driving state; The driving direction determination module is specifically configured to calculate a difference between the current driving direction related value and the driving direction related value corresponding to the previous moment; as well as If the difference is greater than 0, the current driving direction of the vehicle is determined to be forward; otherwise, the current driving direction of the vehicle is determined to be reverse; The driving direction judgment module is further used to, if the wheel speed detection value is invalid, determine the current driving direction of the vehicle as the driving direction of the vehicle at the previous moment, and when the current running state of the vehicle is a stationary state, determine the current driving direction of the vehicle as stationary.

4. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the vehicle driving direction determination method as claimed in claim 1 or 2 is implemented.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle driving direction determination method as claimed in claim 1 or 2 is implemented.

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