A vehicle path point determination method and device, vehicle and storage medium

Abstract

The application discloses a vehicle path point determination method and device, a vehicle and a storage medium. The method comprises the following steps: obtaining an original vehicle path point column of a vehicle in a geodetic coordinate system; converting the original vehicle path point column into an intermediate vehicle path point column in a coordinate system with a starting point of a vehicle path as an origin; determining a slope of each point in the intermediate vehicle path point column; and converting the intermediate vehicle path point column into a target vehicle path point column in a dead reckoning (DR) coordinate system according to the slope of each point. The method can conveniently and accurately obtain the coordinates of the vehicle in the DR coordinate system by converting the original vehicle path point column of the vehicle in the geodetic coordinate system into the intermediate vehicle path point column in the coordinate system with the starting point of the vehicle path as the origin, and by determining the slope of each point in the intermediate vehicle path point column and converting the intermediate vehicle path point column into the target vehicle path point column in the DR coordinate system.

Description

Technical Field

[0001] This invention relates to the field of automotive navigation technology, and in particular to a method, apparatus, vehicle, and storage medium for determining vehicle waypoints. Background Technology

[0002] Dead Reckoning (DR) is a method of estimating the next position of an object by measuring its distance and orientation, given its current position. DR calibration is the process of optimizing the algorithm's internal parameters to reduce the error between the DR-calculated position and the vehicle's actual position, achieving optimal performance. The key to DR calibration is mapping the measured actual vehicle position onto the DR coordinate system. Currently, the mainstream method is to use an Automatic Dynamic Motion Analyzer (ADMA) or a ranging device to achieve this. These methods suffer from drawbacks such as high cost, cumbersome measurement conversion process, and low efficiency.

[0003] Therefore, how to conveniently obtain the vehicle's coordinates in the DR coordinate system is a problem existing in current technology. Summary of the Invention

[0004] This invention provides a method, apparatus, vehicle, and storage medium for determining vehicle waypoints, in order to solve the problem in the prior art that the actual movement position of a vehicle cannot be accurately mapped to the DR coordinate system.

[0005] According to one aspect of the present invention, a method for determining vehicle waypoints is provided, the method comprising:

[0006] Obtain the original vehicle path point list in the geodetic coordinate system;

[0007] The original vehicle path point list is converted into an intermediate vehicle path point list in a coordinate system with the starting point of the vehicle path as the origin.

[0008] Determine the slope of each point in the intermediate vehicle path point list;

[0009] The intermediate vehicle path point list is converted into the target vehicle path point list in the DR coordinate system based on the slope of each point.

[0010] According to another aspect of the present invention, a vehicle waypoint determination device is provided, the device comprising:

[0011] The acquisition module is used to acquire the original vehicle path point list in the geodetic coordinate system.

[0012] The first conversion module is used to convert the original vehicle path point list into an intermediate vehicle path point list in a coordinate system with the starting point of the vehicle path as the origin.

[0013] The determination module is used to determine the slope of each point in the intermediate vehicle path point list;

[0014] The second conversion module is used to convert the intermediate vehicle path point list into the target vehicle path point list in the DR coordinate system based on the slope of each point.

[0015] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising: at least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle waypoint determination method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle waypoint determination method according to any embodiment of the present invention.

[0019] This invention discloses a vehicle waypoint determination method, apparatus, vehicle, and storage medium. The method includes: acquiring an original vehicle waypoint sequence in a geodetic coordinate system; converting the original vehicle waypoint sequence into an intermediate vehicle waypoint sequence in a coordinate system with the starting point of the vehicle path as the origin; determining the slope of each point in the intermediate vehicle waypoint sequence; and converting the intermediate vehicle waypoint sequence into a target vehicle waypoint sequence in a trajectory extrapolation (DR) coordinate system based on the slope of each point. This method, by converting the original vehicle waypoint sequence in the geodetic coordinate system into an intermediate vehicle waypoint sequence in a coordinate system with the starting point of the vehicle path as the origin, and by determining the slope of each point in the intermediate vehicle waypoint sequence, converts the intermediate vehicle waypoint sequence into a target vehicle waypoint sequence in the DR coordinate system. This allows for convenient and accurate determination of the vehicle's coordinates in the DR coordinate system, solving the problem in the prior art of accurately mapping the actual movement position of the vehicle to the DR coordinate system.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating a method for determining vehicle waypoints according to Embodiment 1 of the present invention.

[0023] Figure 2 A schematic diagram of a vehicle path in a geodetic coordinate system provided in an embodiment of the present invention;

[0024] Figure 3 This is a flowchart illustrating a method for determining vehicle waypoints according to Embodiment 2 of the present invention.

[0025] Figure 4 A schematic diagram of a vehicle path provided in an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of yet another vehicle path provided in an embodiment of the present invention;

[0027] Figure 6 This is a flowchart illustrating a method for determining vehicle waypoints according to Embodiment 3 of the present invention.

[0028] Figure 7 A schematic diagram of a vehicle path in a DR coordinate system provided in an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of a vehicle waypoint determination device provided in Embodiment 4 of the present invention;

[0030] Figure 9 This is a structural schematic diagram of a vehicle provided in Embodiment 5 of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. It should be understood that the various steps described in the method embodiments of the present invention can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0032] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0035] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0036] Example 1

[0037] Figure 1This is a flowchart illustrating a vehicle waypoint determination method provided in Embodiment 1 of the present invention. This method is applicable to determining the coordinates of a vehicle's travel path in the DR coordinate system. This method can be executed by a vehicle waypoint determination device, which can be implemented by software and / or hardware and is generally integrated into the vehicle. In this embodiment, the vehicle includes, but is not limited to, ordinary transport vehicles, special-purpose vehicles, and special-purpose vehicles.

[0038] like Figure 1 As shown, the vehicle waypoint determination method provided in Embodiment 1 of the present invention includes the following steps:

[0039] S110. Obtain the original vehicle path point list in the geodetic coordinate system.

[0040] The vehicle can be a moving vehicle. A geodetic coordinate system is a coordinate system established in geodesy using a reference ellipsoid as the datum. The position of a point on the ground is represented by geodetic longitude, geodetic latitude, and geodetic height. The original vehicle path point sequence can be a sequence of points along a route traveled by the vehicle in the geodetic coordinate system.

[0041] In this embodiment, a set of original vehicle path points in the geodetic coordinate system can be obtained for a segment of the vehicle's travel path. This embodiment does not limit how to obtain the original vehicle path points.

[0042] S120. Convert the original vehicle path point list into an intermediate vehicle path point list in a coordinate system with the starting point of the vehicle path as the origin.

[0043] The vehicle path can be a route taken by the vehicle, and it can be acquired either while the vehicle is in motion or when it comes to rest; this embodiment does not impose any limitations on this. In this embodiment, the vehicle path is a distance traveled in a straight line. The intermediate vehicle path point set can be a set of data points in a coordinate system with the starting point of the vehicle path as the origin. The horizontal axis of the coordinate system containing the intermediate vehicle path points can point due east, and the vertical axis can point due north. It is understood that the horizontal axis of the coordinate system containing the intermediate vehicle path points can also point due west, and the vertical axis can also point due south; this embodiment does not impose any limitations on this.

[0044] In this embodiment, each point in the original vehicle path point list can be projected and translated to obtain a set of intermediate vehicle path point lists with the origin of the coordinate system as the starting point of the vehicle path.

[0045] S130. Determine the slope of each point in the intermediate vehicle path point list.

[0046] The slope is a measure of how much a tangent to a straight line or curve is inclined about the horizontal axis.

[0047] In this embodiment, the slope of each point in the intermediate vehicle path point list can be determined by slope calculation. The method of slope calculation is not limited in this embodiment. For example, the slope of a point can be determined by calculating the slope between two adjacent points.

[0048] S140. Based on the slope of each point, convert the intermediate vehicle path point list into the target vehicle path point list in the DR coordinate system of track estimation.

[0049] The DR coordinate system can be a coordinate system with the starting point of the vehicle path as its origin. The horizontal axis of the DR coordinate system can be the extension of the rear axle center of the vehicle to the right at the start of the vehicle path, and the vertical axis can be the direction the vehicle is facing at the start. The target vehicle path point set can be a set of coordinates of the vehicle path in the DR coordinate system.

[0050] In this embodiment, the angle between the intermediate vehicle path point sequence and the DR coordinate system can be calculated based on the slope of the midpoint of the intermediate vehicle path point sequence, and the intermediate vehicle path point sequence can be converted into the target vehicle path point sequence in the DR coordinate system based on the angle.

[0051] This invention provides a method for determining vehicle waypoints, comprising: acquiring an original vehicle waypoint sequence in a geodetic coordinate system; converting the original vehicle waypoint sequence into an intermediate vehicle waypoint sequence in a coordinate system with the starting point of the vehicle path as the origin; determining the slope of each point in the intermediate vehicle waypoint sequence; and converting the intermediate vehicle waypoint sequence into a target vehicle waypoint sequence in a DR coordinate system based on the slope of each point. This method, by converting the original vehicle waypoint sequence in the geodetic coordinate system into an intermediate vehicle waypoint sequence in a coordinate system with the starting point of the vehicle path as the origin, and by determining the slope of each point in the intermediate vehicle waypoint sequence, converts the intermediate vehicle waypoint sequence into a target vehicle waypoint sequence in the DR coordinate system. This allows for convenient and accurate determination of the vehicle's coordinates in the DR coordinate system, solving the problem in existing technologies where the actual movement position of a vehicle cannot be accurately mapped to the DR coordinate system.

[0052] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0053] In one embodiment, obtaining the original vehicle path point list in the geodetic coordinate system includes:

[0054] The vehicle's latitude and longitude coordinates and heading angle are determined by the in-vehicle integrated navigation system to travel a certain distance in a straight line;

[0055] A set of original vehicle path points is obtained based on the latitude and longitude coordinates and the heading angle.

[0056] The vehicle-mounted integrated navigation system can be a combined navigation system that uses multiple technologies to locate the vehicle, such as Global Navigation Satellite System (GNSS) positioning, inertial navigation, visual navigation, laser ranging, sonar detection, and odometer, all of which can be components of the integrated navigation system. This embodiment does not limit the components of the vehicle-mounted integrated navigation system. For example, this embodiment can use GNSS and inertial navigation for combined vehicle positioning. Latitude and longitude coordinates can be the vehicle's longitude and latitude coordinates in the geodetic coordinate system. The heading angle can be the angle between the vehicle's actual direction of motion and the horizontal axis in the geodetic coordinate system.

[0057] In this embodiment, the vehicle's steering wheel can first be positioned at 0°, and the vehicle can be driven in a straight line. Then, the vehicle's location can be determined using an in-vehicle navigation system to obtain a set of original vehicle path points {p}. n}, where each data point p i Including the vehicle's latitude and longitude coordinates in the geodetic coordinate system (x i ,y i ) and heading angle yaw i For example, Figure 2 This is a schematic diagram of a vehicle path in a geodetic coordinate system provided by an embodiment of the present invention, as shown below. Figure 2 As shown, starting from the vehicle path's starting point, the vehicle travels straight for a certain distance before beginning to move freely. The points in the original vehicle path point list recorded in this embodiment are the points on the path when the vehicle travels straight. The horizontal axis represents longitude, and the vertical axis represents latitude.

[0058] This embodiment uses in-vehicle integrated navigation to more accurately determine the vehicle's coordinates in the geodetic coordinate system, thus improving the accuracy of coordinate positioning.

[0059] Example 2

[0060] Figure 3 This is a flowchart illustrating a vehicle waypoint determination method according to Embodiment 2 of the present invention. Embodiment 2 is an optimization based on the above embodiments. For details not covered in this embodiment, please refer to Embodiment 1.

[0061] like Figure 3 As shown in Embodiment 2 of the present invention, a method for determining vehicle waypoints includes the following steps:

[0062] S210. Obtain the original vehicle path point list in the geodetic coordinate system.

[0063] S220. Project the original vehicle path point sequence to obtain the first vehicle path point sequence.

[0064] The first vehicle path point list can be a data point list after projecting each latitude and longitude coordinate in the original vehicle path point list. The projection method of the original vehicle path point list can be UTM projection or other projection methods, which are not limited in this embodiment.

[0065] In this embodiment, the original vehicle path point list {p} can be processed. n The latitude and longitude coordinates (x, y, y) of each point in} i ,y i After projection, the first vehicle path point list is obtained. The coordinates of each point in the first vehicle path point list are: For example, Figure 4 A schematic diagram of a vehicle path provided in an embodiment of the present invention, such as... Figure 4 As shown, the horizontal axis represents the distance from the point to the central meridian of the longitude zone, and the vertical axis represents the distance from the point to the equator. Figure 4 The vehicle path in the middle is the first vehicle path point list.

[0066] In one embodiment, the x-coordinate of the coordinate system where the first vehicle path point list is located is the distance from the point to the central meridian of the longitude zone, and the y-coordinate is the distance from the point to the equator.

[0067] The central meridian of the longitude zone is the longitude centerline of the projection system. The projected coordinate system typically uses it as the reference point for the origin of the X-axis. The equator is the longest circle in the trajectory of a point on the Earth's surface as the Earth rotates.

[0068] In this embodiment, the first vehicle path point list x-coordinate of the coordinate system The vertical axis represents the distance from the point to the central meridian of the longitude zone. This is the distance from the point to the equator.

[0069] S230. The first vehicle path point sequence is translated to obtain the second vehicle path point sequence in the coordinate system with the starting point of the vehicle path as the origin, and the second vehicle path point sequence is used as the intermediate vehicle path point sequence.

[0070] The second vehicle path point list can be the translated first vehicle path point list.

[0071] In this embodiment, the first vehicle path point list can be generated. Each point in the coordinate system is translated to obtain the second vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin. List the second vehicle waypoint As intermediate vehicle path points intermediate vehicle path point list The coordinates of the point in are Origin For example, the specific operation of translation is as follows:

[0072]

[0073]

[0074] Figure 5 This is a schematic diagram of another vehicle path provided in an embodiment of the present invention, such as... Figure 5 As shown, the horizontal axis points due east, and the vertical axis points due north.

[0075] S240. Determine the slope of each point in the intermediate vehicle path point list.

[0076] S250. Based on the slope of each point, convert the intermediate vehicle path point list into the target vehicle path point list in the DR coordinate system for track estimation.

[0077] The second embodiment of the present invention provides a method for determining vehicle path points. It further obtains an intermediate vehicle path point sequence by projecting and translating the original vehicle path point sequence. By determining the slope of each point in the intermediate vehicle path point sequence, the intermediate vehicle path point sequence can be converted into a target vehicle path point sequence in the DR coordinate system. This allows for convenient and accurate determination of the vehicle's coordinates in the DR coordinate system, solving the problem in the prior art that it is impossible to accurately map the actual movement position of the vehicle to the DR coordinate system.

[0078] In one embodiment, each point in the intermediate vehicle waypoint list includes a heading angle; correspondingly, before determining the slope of each point in the intermediate vehicle waypoint list, the method further includes:

[0079] Delete points in the intermediate vehicle path point list where the difference between the heading angle of each point and the heading angle of the starting point of the vehicle path is greater than a preset heading angle, and obtain the filtered intermediate vehicle path point list.

[0080] The preset heading angle can be a pre-set heading angle difference, which can be set according to actual conditions. For example, the preset heading angle can be any value between 0° and 0.1°.

[0081] In this embodiment, intermediate vehicle path points can be listed. The heading angle of each point and the starting point of the vehicle path (i.e., the origin) All points whose difference in heading angle (yaw1) is greater than a preset heading angle (e.g., 0.05°) are deleted, resulting in a filtered list of intermediate vehicle path points. These points are then recorded as follows: The subscript in the text is j.

[0082] This embodiment filters out points that are not on a straight line by selecting points in the intermediate vehicle path point list whose heading angle differs too much from the heading angle of the origin, making the subsequent average slope more accurate.

[0083] In one embodiment, determining the slope of each point in the intermediate vehicle path point list includes:

[0084] For each point in the intermediate vehicle path point list, determine the slope of the two points adjacent to that point;

[0085] The determined slope is defined as the slope of the point.

[0086] In this embodiment, when determining the slope of each point in the intermediate vehicle path point list, the slope of each point can be the slope of the two adjacent points. For example, the slope k of each point is calculated. j The method can be

[0087] Example 3

[0088] Figure 6 This is a flowchart illustrating a vehicle waypoint determination method according to Embodiment 3 of the present invention. Embodiment 3 is an optimization based on the above embodiments. For details not covered in this embodiment, please refer to Embodiment 1.

[0089] like Figure 6 As shown, the vehicle waypoint determination method provided in Embodiment 3 of the present invention includes the following steps:

[0090] S310. Obtain the original vehicle path point list in the geodetic coordinate system.

[0091] S320. Convert the original vehicle path point list into an intermediate vehicle path point list in a coordinate system with the starting point of the vehicle path as the origin.

[0092] S330. Determine the slope of each point in the intermediate vehicle path point list.

[0093] S340. Sort the slope of each point in the intermediate vehicle path point list.

[0094] In this embodiment, after obtaining the slope of each point in the intermediate vehicle path point list, the slopes of all points can be sorted. The sorting method can be from largest to smallest or from smallest to largest.

[0095] S350. Select a preset number of slopes from the sorted slopes according to preset rules.

[0096] The preset rule can be a rule for selecting the slope, and this embodiment does not limit the preset rule. For example, the preset rule can be to select a middle portion of the data from the sorted slopes, or it can be to select the mode of all slopes. The value of the preset quantity can also be set according to the actual situation, and this embodiment does not limit it.

[0097] In this embodiment, a preset number of slopes can be selected from the sorted slopes according to a pre-set rule. For example, this embodiment can select 50% of the data from the sorted slopes.

[0098] S360. Calculate the average slope of the preset number of slopes.

[0099] The average slope can be the average of a preset number of slopes.

[0100] In this embodiment, after obtaining a preset number of slopes, the average slope k of the preset number of slopes can be calculated.

[0101] S370. Convert the intermediate vehicle path point list into the target vehicle path point list in the DR coordinate system according to the average slope.

[0102] In this embodiment, the angle between the points in the intermediate vehicle path point list and the coordinate axis in the coordinate system can be determined based on the average slope, thereby converting the intermediate vehicle path point list into the target vehicle path point list in the DR coordinate system based on the angle.

[0103] The vehicle path point determination method provided in Embodiment 3 of the present invention further determines the slope of each point in the intermediate vehicle path point column, selects a preset number of slopes from the sorted slopes according to preset rules, and calculates the average slope. Thus, the intermediate vehicle path point column is converted into the target vehicle path point column in the DR coordinate system based on the average slope. This method can conveniently and accurately obtain the vehicle's coordinates in the DR coordinate system, solving the problem in the prior art that it is impossible to accurately map the actual movement position of the vehicle to the DR coordinate system.

[0104] In one embodiment, converting the intermediate vehicle path point list into a target vehicle path point list in the DR coordinate system based on the average slope includes:

[0105] Calculate the first angle of the intermediate vehicle path point list in the coordinate system based on the average slope;

[0106] Based on the first angle and the conversion formula, the intermediate vehicle path point list is converted into the target vehicle path point list in the DR coordinate system.

[0107] The first angle can be the angle between the straight line containing the points on the intermediate vehicle path and the coordinate axis. This first angle can be either the angle with the vertical coordinate axis or the angle with the horizontal coordinate axis; this embodiment does not limit this. The conversion formula can be a formula for converting the intermediate vehicle path point sequence into the target vehicle path point sequence in the DR coordinate system.

[0108] In this embodiment, the first angle θ can be calculated using the average slope k, for example, θ is the angle between the straight line containing the points on the intermediate vehicle path and the vertical axis.

[0109] In one embodiment, the conversion formula includes:

[0110]

[0111]

[0112] Where i is a positive integer, and θ is the first angle. These are the coordinates of points in the intermediate vehicle path point list. These are the coordinates of points in the target vehicle path point list.

[0113] In this embodiment, the coordinates of points in the intermediate vehicle path point list can be converted to the coordinates of points in the target vehicle path point list using the above conversion formula. For example, Figure 7 This is a schematic diagram of a vehicle path in a DR coordinate system provided by an embodiment of the present invention, as shown below. Figure 7 As shown, the vehicle's actual trajectory has been mapped to the DR coordinate system.

[0114] This embodiment utilizes an in-vehicle integrated navigation system to collect vehicle waypoints, and then performs UTM projection, translation, filtering, and rotation on the output geodetic coordinates to convert them into DR coordinates. Compared to traditional methods using ADMA or ranging devices, this method offers advantages such as lower equipment cost, easier installation, higher coordinate system conversion accuracy, faster conversion speed, and greater tolerance for installation errors of the integrated navigation equipment.

[0115] Example 4

[0116] Figure 8 This is a schematic diagram of a vehicle waypoint determination device provided in Embodiment 4 of the present invention. The device is applicable to determining the coordinates of a vehicle's driving path in the DR coordinate system. The device can be implemented by software and / or hardware and is generally integrated into the vehicle.

[0117] like Figure 8 As shown, the device includes:

[0118] Module 410 is used to acquire the original vehicle path point list in the geodetic coordinate system;

[0119] The first conversion module 420 is used to convert the original vehicle path point list into an intermediate vehicle path point list in a coordinate system with the starting point of the vehicle path as the origin.

[0120] The determining module 430 is used to determine the slope of each point in the intermediate vehicle path point column;

[0121] The second conversion module 440 is used to convert the intermediate vehicle path point list into the target vehicle path point list in the DR coordinate system based on the slope of each point.

[0122] This embodiment provides a vehicle path point determination device, comprising: an acquisition module for acquiring the original vehicle path point sequence in a geodetic coordinate system; a first conversion module for converting the original vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin; a determination module for determining the slope of each point in the intermediate vehicle path point sequence; and a second conversion module for converting the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system based on the slope of each point. By converting the original vehicle path point sequence in the geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, and by determining the slope of each point in the intermediate vehicle path point sequence, the intermediate vehicle path point sequence is converted into a target vehicle path point sequence in the DR coordinate system. This allows for convenient and accurate acquisition of the vehicle's coordinates in the DR coordinate system, solving the problem in the prior art of not being able to accurately map the actual movement position of the vehicle to the DR coordinate system.

[0123] Furthermore, the first conversion module 420 includes:

[0124] The first vehicle path point sequence is obtained by projecting the original vehicle path point sequence.

[0125] The first vehicle path point sequence is translated to obtain the second vehicle path point sequence in the coordinate system with the starting point of the vehicle path as the origin. The second vehicle path point sequence is used as the intermediate vehicle path point sequence.

[0126] Furthermore, the horizontal coordinate of the coordinate system where the first vehicle path point sequence is located is the distance from the point to the central meridian of the longitude zone, and the vertical coordinate is the distance from the point to the equator.

[0127] Furthermore, each point in the intermediate vehicle path point list includes a heading angle; correspondingly, the determining module 430 also includes:

[0128] Delete points in the intermediate vehicle path point list where the difference between the heading angle of each point and the heading angle of the starting point of the vehicle path is greater than a preset heading angle, and obtain the filtered intermediate vehicle path point list.

[0129] Furthermore, module 430 is defined as including:

[0130] For each point in the intermediate vehicle path point list, determine the slope of the two points adjacent to that point;

[0131] The determined slope is defined as the slope of the point.

[0132] Furthermore, the second conversion module 440 includes:

[0133] Sort the slope of each point in the intermediate vehicle path point list;

[0134] Select a preset number of slopes from the sorted slopes according to preset rules;

[0135] Calculate the average slope of the preset number of slopes;

[0136] The intermediate vehicle path point list is converted into the target vehicle path point list in the DR coordinate system based on the average slope.

[0137] Furthermore, the step of converting the intermediate vehicle path point list into the target vehicle path point list in the DR coordinate system based on the average slope includes:

[0138] Calculate the first angle of the intermediate vehicle path point list in the coordinate system based on the average slope;

[0139] Based on the first angle and the conversion formula, the intermediate vehicle path point list is converted into the target vehicle path point list in the DR coordinate system.

[0140] Furthermore, the conversion formula includes:

[0141]

[0142]

[0143] Where i is a positive integer, and θ is the first angle. These are the coordinates of points in the intermediate vehicle path point list. These are the coordinates of points in the target vehicle path point list.

[0144] Furthermore, the acquisition module 410 includes:

[0145] The vehicle's latitude and longitude coordinates and heading angle are determined by the in-vehicle integrated navigation system to travel a certain distance in a straight line;

[0146] A set of original vehicle path points is obtained based on the latitude and longitude coordinates and the heading angle.

[0147] The vehicle waypoint determination device described above can execute the vehicle waypoint determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0148] Example 5

[0149] Figure 9 A schematic diagram of the structure of a vehicle 10 that can be used to implement embodiments of the present invention is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0150] like Figure 9 As shown, vehicle 10 includes at least one processor 11 and a memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer program stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of vehicle 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. Input / output (I / O) interface 15 is also connected to bus 14.

[0151] Multiple components in vehicle 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows vehicle 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0152] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle waypoint determination methods.

[0153] In some embodiments, the vehicle waypoint determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle waypoint determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle waypoint determination method by any other suitable means (e.g., by means of firmware).

[0154] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0157] To provide interaction with the user, the systems and technologies described herein can be implemented in a vehicle having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0158] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0159] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0160] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0161] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle path point determination method characterized by, The method comprises: obtaining a raw vehicle path point list of a vehicle in a geodetic coordinate system; converting the raw vehicle path point list into an intermediate vehicle path point list in a coordinate system with a starting point of the vehicle path as an origin; determining a slope of each point in the intermediate vehicle path point list; converting the intermediate vehicle path point list into a target vehicle path point list in a dead reckoning (DR) coordinate system according to the slope of each point; the converting the intermediate vehicle path point list into a target vehicle path point list in a dead reckoning (DR) coordinate system according to the slope of each point comprises: sorting the slopes of each point in the intermediate vehicle path point list; selecting a preset number of slopes from the sorted slopes according to a preset rule; calculating an average slope of the preset number of slopes; converting the intermediate vehicle path point list into a target vehicle path point list in a DR coordinate system according to the average slope.

2. The method of claim 1, wherein, the converting the raw vehicle path point list into an intermediate vehicle path point list in a coordinate system with a starting point of the vehicle path as an origin comprises: projecting the raw vehicle path point list to obtain a first vehicle path point list; translating the first vehicle path point list to obtain a second vehicle path point list in a coordinate system with the starting point of the vehicle path as an origin, and taking the second vehicle path point list as the intermediate vehicle path point list.

3. The method of claim 2, wherein, the abscissa of the coordinate system in which the first vehicle path point list is located is the distance of a point to the central meridian of the longitude zone, and the ordinate is the distance of the point to the equator.

4. The method of claim 1, wherein, each point in the intermediate vehicle path point list comprises a heading angle; accordingly, before the determining the slope of each point in the intermediate vehicle path point list, the method further comprises: deleting the points whose difference between the heading angle of each point in the intermediate vehicle path point list and the heading angle of the starting point of the vehicle path is greater than a preset heading angle, to obtain a screened intermediate vehicle path point list.

5. The method according to claim 1 or 4, characterized in that, the determining the slope of each point in the intermediate vehicle path point list comprises: for each point in the intermediate vehicle path point list, determining the slopes of two points adjacent to the point; determining the determined slopes as the slope of the point.

6. The method of claim 1, wherein, the converting the intermediate vehicle path point list into a target vehicle path point list in a DR coordinate system according to the average slope comprises: calculating a first angle of the intermediate vehicle path point list in the coordinate system according to the average slope; converting the intermediate vehicle path point list into a target vehicle path point list in a DR coordinate system according to the first angle and a conversion formula.

7. The method of claim 6, wherein, the conversion formula comprises: wherein is a positive integer, is the first angle, is a coordinate of a point in the intermediate vehicle path point series, is a coordinate of a point in the target vehicle path point series.

8. The method of claim 1, wherein, the obtaining a raw vehicle path point list of a vehicle in a geodetic coordinate system comprises: determining the latitude and longitude coordinates and the heading angle of the vehicle when the vehicle travels straight for a distance through a vehicle-mounted combined navigation device; obtaining a raw vehicle path point list according to the latitude and longitude coordinates and the heading angle.

9. A vehicle path point determination device characterized by comprising: The device comprises: an obtaining module configured to obtain a raw vehicle path point list of a vehicle in a geodetic coordinate system; a first converting module configured to convert the raw vehicle path point list into an intermediate vehicle path point list in a coordinate system with a starting point of the vehicle path as an origin; a determining module configured to determine a slope of each point in the intermediate vehicle path point list; The second conversion module is configured to convert the intermediate vehicle path point series into a target vehicle path point series in a dead reckoning (DR) coordinate system according to the slope of each point. The second conversion module comprises: sorting the slope of each point in the intermediate vehicle path point series; selecting a preset number of slopes from the sorted slopes according to a preset rule; calculating an average slope of the preset number of slopes; converting the intermediate vehicle path point series into a target vehicle path point series in a DR coordinate system according to the average slope.

10. A vehicle characterized by comprising: The vehicle comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle path point determination method in any one of claims 1-8.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the vehicle path point determination method in any one of claims 1-8 when executed.

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