Vehicle speed determination method and apparatus, electronic device, and storage medium

Abstract

The application provides a vehicle speed determination method and device, electronic equipment and storage medium. The method comprises the following steps: in response to the navigation function of the vehicle not being enabled, acquiring road section data of a driven road section of the vehicle, and determining a target historical path matched with the road section data from a historical path of the vehicle, wherein the driven road section is a road section from a starting time of the vehicle to a preset time length; acquiring a coordinate point mapped in road network information of a coordinate point on the target historical path, and forming a path of the coordinate point mapped in the road network information as a target driving path, wherein the road network information comprises path coordinates and road traffic condition information of the path; and calculating a target average vehicle speed of the vehicle on the target driving path according to the target driving path and the road traffic condition information of the target driving path. In the application, the vehicle driving information is acquired in a non-navigation scenario, the influence of the non-navigation scenario on the vehicle performance is avoided, the driving safety is improved, and the driving experience is optimized.

Description

Technical Field

[0001] This application relates to the field of data processing, and particularly to the field of intelligent vehicles, including modern sensing and information fusion. Background Technology

[0002] With the continuous development of intelligent vehicle technology, people have higher and higher requirements for the intelligent services provided by vehicles. Among them, some intelligent services in vehicles can provide drivers and passengers with a high-quality driving and riding experience during the vehicle's operation.

[0003] In some implementations, vehicles can perform corresponding functions based on the speed along their upcoming path, providing services to the driver and passengers. For example, by obtaining speed information for the upcoming path, the battery level of an electric vehicle can be estimated in advance. Related technologies can use software with specific settings (such as navigation software) to predict the vehicle's speed distribution along the upcoming path. However, this method is highly dependent on manual intervention and cumbersome to operate. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the first aspect of this application proposes a method for determining vehicle speed.

[0006] The second aspect of this application also proposes a vehicle speed determination device.

[0007] The third aspect of this application proposes an electronic device.

[0008] The fourth aspect of this application proposes a computer-readable storage medium.

[0009] The fifth aspect of this application discloses a vehicle.

[0010] The first aspect of this application proposes a method for determining vehicle speed, comprising: in response to the vehicle's navigation function not being enabled, acquiring road segment data of the road segments already driven by the vehicle, and determining a target historical path matching the road segment data from the vehicle's historical paths, wherein the driven road segments are the road segments driven by the vehicle from the start time to a preset duration; acquiring the coordinate points mapped to the coordinate points on the target historical path in road network information, and using the path formed by the coordinate points mapped in the road network information as the target driving path, wherein the road network information includes path coordinates and road traffic information of the path; and calculating the target average vehicle speed on the target driving path based on the target driving path and the road traffic information of the target driving path.

[0011] In addition, the vehicle speed determination method proposed in the first aspect of this application may also have the following additional technical features:

[0012] According to one embodiment of this application, obtaining coordinate points on a target historical path includes: obtaining historical coordinate points corresponding to the target historical path, wherein the historical coordinate points include coordinate points passed by the vehicle when traveling along the target historical path; obtaining coordinate points that satisfy a first preset curvature condition from the historical coordinate points as first candidate coordinate points; and determining the starting coordinate point, ending coordinate point, and first candidate coordinate point of the target historical path as coordinate points on the target historical path.

[0013] According to one embodiment of this application, the coordinates of the coordinates on the target historical path are mapped to the coordinates in the road network information, and the path formed by the coordinates mapped in the road network information is taken as the target driving path. The road network information includes path coordinates and road traffic information of the path, including: obtaining points in the road network information that are the same as the coordinates on the target historical path, and taking them as the coordinates mapped to the coordinates on the target historical path in the road network information; determining the path formed by the coordinates mapped to the coordinates on the target historical path in the road network information as the target driving path.

[0014] According to one embodiment of this application, determining the path formed by the coordinate points mapped to the coordinate points on the target historical path in the road network information as the target driving path includes: obtaining the path connection formed by all the coordinate points mapped to the coordinate points on the target historical path in the road network information; in response to the path connection coinciding with the target historical path, determining the path corresponding to the path connection as the target driving path; in response to the path connection not coinciding with the target historical path, updating the coordinate points mapped to the coordinate points on the target historical path in the road network information until the path connection formed by the updated coordinate points mapped to the coordinate points on the target historical path in the road network information coincides with the target historical path.

[0015] According to one embodiment of this application, in response to the fact that the path connection does not coincide with the target historical path, updating the coordinate points mapped in the road network information of the coordinate points on the target historical path includes: obtaining abnormal historical path segments in the target historical path that do not coincide with the path connection; adjusting the coordinate points on the target historical path according to the abnormal historical path segments; and obtaining the coordinate points mapped in the road network information of the updated coordinate points on the target historical path according to the adjusted coordinate points on the target historical path.

[0016] According to one embodiment of this application, adjusting the coordinate points on a target historical path based on an abnormal historical path fragment includes: obtaining an abnormal historical path fragment and a first abnormal coordinate point corresponding to the coordinate points on the target historical path; filtering the historical coordinate points corresponding to the target historical path based on the first abnormal coordinate point, and determining a first adjusted coordinate point corresponding to the first abnormal coordinate point from the filtered historical coordinate points; adding the first adjusted coordinate point to the coordinate points on the target historical path, and obtaining the adjusted coordinate points on the target historical path.

[0017] According to one embodiment of this application, determining the first adjustment coordinate point corresponding to the first abnormal coordinate point from the filtered historical coordinate points includes: obtaining abnormal historical coordinate points corresponding to abnormal historical paths, wherein the abnormal historical coordinate points include the first abnormal coordinate point; and selecting coordinate points that satisfy a second preset curvature condition from the abnormal historical coordinate points after filtering the first abnormal coordinate point as the first adjustment coordinate point corresponding to the first abnormal coordinate point.

[0018] According to one embodiment of this application, in response to a path connection not coinciding with a target historical path, updating the coordinate points mapped to the target historical path in road network information includes: obtaining abnormal connection segments in the path connection that do not coincide with the target historical path; adjusting the coordinate points mapped to the target historical path in road network information based on the abnormal connection segments; and obtaining the updated coordinate points mapped to the target historical path in road network information.

[0019] According to one embodiment of this application, adjusting the coordinate points mapped to road network information of coordinate points on the target historical path based on abnormal connection segments, and obtaining the updated coordinate points mapped to road network information of coordinate points on the target historical path, includes: obtaining abnormal connection segments, and a second abnormal coordinate point corresponding to the coordinate points mapped to road network information of coordinate points on the target historical path; determining a corresponding second updated coordinate point based on the second abnormal coordinate point; replacing the second abnormal coordinate point corresponding to the coordinate points mapped to road network information of coordinate points on the target historical path with the second updated coordinate point, and obtaining the updated coordinate points mapped to road network information of coordinate points on the target historical path.

[0020] According to one embodiment of this application, in response to the path connection not overlapping with the target historical path, updating the coordinate points mapped to the target historical path in the road network information further includes: in response to the update number of the coordinate points mapped to the target historical path in the road network information being greater than or equal to an update number threshold, dividing the target historical path into paths, and taking the obtained segmented path as the first sub-path of the target historical path; obtaining the first sub-coordinate point of the first sub-path, and obtaining the updated coordinate points mapped to the target historical path in the road network information based on the sub-coordinate points mapped to each first sub-coordinate point in the road network information.

[0021] According to one embodiment of this application, the target average vehicle speed on the target driving path is calculated based on the target driving path and the road traffic information of the target driving path, including: dividing the target driving path into road segments and taking the divided road segments as driving segments of the target driving path; obtaining the average vehicle speed on the driving segments based on the road traffic information of the driving segments in the road network information; and determining the target average vehicle speed on the target driving path based on the average vehicle speed on all driving segments.

[0022] According to one embodiment of this application, determining the target average vehicle speed on the target driving path based on the average vehicle speed on all driving road segments includes: obtaining the average value of the average vehicle speed on all driving road segments, and using the average value as the target average vehicle speed on the target driving path.

[0023] The second aspect of this application also proposes a vehicle speed determination device, comprising: a matching module, configured to, in response to the vehicle's navigation function not being enabled, acquire road segment data of the road segments already driven by the vehicle, and determine a target historical path matching the road segment data from the vehicle's historical paths, wherein the already driven road segments are the road segments driven by the vehicle from the start time to a preset duration; an acquisition module, configured to acquire the coordinate points mapped to the coordinate points on the target historical path in road network information, and use the path formed by the coordinate points mapped in the road network information as the target driving path, wherein the road network information includes path coordinates and road traffic conditions information of the path; and a determination module, configured to calculate the target average vehicle speed on the target driving path based on the target driving path and the road traffic conditions information of the target driving path.

[0024] The third aspect of this application proposes an electronic device, including a memory and a processor; wherein the processor runs a program corresponding to the executable program code by reading executable program code stored in the memory, so as to implement the vehicle speed determination method proposed in the first aspect above.

[0025] The fourth aspect of this application proposes a computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the vehicle speed determination method proposed in the first aspect above.

[0026] The fifth aspect of this application discloses a vehicle that includes the speed determination device described in the second aspect above.

[0027] The vehicle speed determination method and apparatus proposed in this application acquire road segment data of the sections the vehicle has already driven, and determine a matching path from all candidate historical paths using the road segment data, as the target historical path corresponding to the vehicle's current trip. By mapping the coordinates of the coordinates on the target historical path to the coordinates in the road network information, the target driving path of the vehicle in the road network information is obtained, and the road traffic information corresponding to the target driving path is obtained from the road network information. Further, based on the target historical path and the road traffic information corresponding to the target driving path, the target average vehicle speed on the target driving path is determined. In this application, the target driving path is obtained from the road network information through the target historical path, realizing the acquisition of vehicle driving information in navigation-free scenarios, and thus realizing the determination of the average vehicle speed on the target driving path in navigation-free scenarios. This avoids the impact of navigation-free scenarios on vehicle performance, improves vehicle driving safety, and optimizes the driving experience.

[0028] It should be understood that the description herein is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0030] Figure 1 This is a schematic flowchart of a vehicle speed determination method according to an embodiment of this application;

[0031] Figure 2 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application;

[0032] Figure 3 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application;

[0033] Figure 4 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application;

[0034] Figure 5 This is a schematic diagram of the average vehicle speed on a road segment according to an embodiment of this application;

[0035] Figure 6 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application;

[0036] Figure 7 This is a schematic diagram of the structure of a vehicle speed determining device according to an embodiment of this application;

[0037] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0039] The vehicle speed determination method, apparatus, electronic device, and storage medium of this application are described below with reference to the accompanying drawings.

[0040] Figure 1 This is a flowchart illustrating a vehicle speed determination method according to an embodiment of this application, as shown below. Figure 1 As shown, the method includes:

[0041] S101, in response to the vehicle's navigation function not being enabled, obtains road segment data of the road segments already driven by the vehicle, and determines the target historical path that matches the road segment data from the vehicle's historical path, wherein the road segments already driven are the road segments driven by the vehicle from the start time to the preset duration.

[0042] During vehicle operation, the vehicle needs to acquire relevant driving parameters to perform some of its functions. However, in practice, the driver may drive the vehicle in scenarios where the navigation function is not enabled, which may result in some driving parameters not being acquired.

[0043] Optionally, in scenarios without navigation, relevant driving parameters can be obtained through the vehicle's settings module.

[0044] Furthermore, after the vehicle is started and begins driving, relevant road segment data of the sections driven by the vehicle within a set time period can be obtained. By using the relevant parameters in the road segment data, the driving route of the vehicle for this trip can be determined from all candidate historical routes and identified as the target historical route.

[0045] Optionally, the road segment data may include the driving trajectory corresponding to the road segment already driven by the vehicle. This driving trajectory can be compared with the trajectory corresponding to the candidate historical path to obtain the target historical path that matches the already driven road segment.

[0046] Optionally, the road segment data may include direction parameters, mileage parameters, time parameters, etc., corresponding to the road segments already driven by the vehicle. These parameters can be compared with the attribute parameters of all candidate historical paths, and the target historical path matching the already driven road segment can be determined from the candidate historical paths based on the comparison results.

[0047] S102, obtain the coordinates of the target historical path mapped to the road network information, and use the path formed by the coordinates mapped to the road network information as the target driving path, wherein the road network information includes path coordinates and road traffic information of the path.

[0048] During vehicle operation, a module can record and store the coordinates traversed along the route, thereby obtaining the vehicle's historical driving path. This coordinate information includes the coordinates along the vehicle's journey.

[0049] Optionally, the corresponding coordinate information can be obtained through the vehicle's positioning system. The coordinate information obtained from each trip can be identified as a group, and the historical driving route can be determined and stored based on the coordinate sequence corresponding to the coordinate information of vehicles belonging to the same group.

[0050] In this embodiment, relevant driving parameters of the vehicle during its current trip can be obtained from the set road network information through the target historical path. The road network information can be understood as relevant information in the network providing map services, which may include the coordinates of points along the path in the network map, as well as relevant road traffic conditions.

[0051] In implementation, the target historical path has a corresponding coordinate sequence. Coordinate points that meet the set criteria can be obtained from the coordinate sequence and used as coordinate points on the target historical path for mapping in the road network information. Specifically, a set number of coordinate points can be obtained from the coordinate sequence based on a quantity-based standard, or a set number of coordinate points can be obtained based on other parameter values, using coordinate points in the coordinate sequence whose relevant parameters meet the set criteria as coordinate points on the target historical path.

[0052] It should be noted that the coordinates on the target historical path mapped in the road network information can be any coordinates that the vehicle passes through when traveling along the target historical path. The relevant information of the coordinates that the vehicle passes through when traveling can be obtained through a set positioning system, such as the Global Positioning System (GPS).

[0053] Furthermore, in order to obtain dynamic information about vehicle travel, relevant path data corresponding to the target historical path can be obtained from the set road network information.

[0054] Optionally, the coordinates on the target historical path can be mapped onto the road network information to obtain the mapped coordinates in the road network information. Further, the path composed of the mapped coordinates can be determined as the target driving path of the vehicle, wherein the target driving path is stored in a set location in the road network information.

[0055] S103, Calculate the target average vehicle speed on the target driving path based on the target driving path and the road traffic conditions along the target driving path.

[0056] In this embodiment of the application, the road network information contains dynamic road traffic information for the path. Therefore, during the driving process, the vehicle can obtain relevant road traffic information for the target driving path through the road network information.

[0057] Among these methods, the mileage and travel time corresponding to the target travel route can be obtained from the relevant road traffic information of the target travel route in the road network information, thereby determining the target average vehicle speed on the target travel route.

[0058] For example, if a vehicle is set to travel along a target route, the distance of the target route can be determined as SA based on the road traffic information of the road network. The travel time of the vehicle on the route of distance SA is TA. Then, the average speed of the vehicle on the target route can be determined as VA = SA / TA.

[0059] The proposed speed determination method acquires road segment data of the routes already driven by the vehicle, and uses this data to determine a matching path from all candidate historical paths, serving as the target historical path for the vehicle's current trip. By mapping the coordinates of the target historical path onto the road network information, the method obtains the vehicle's target driving path within the road network information, and also retrieves the corresponding road traffic information from the road network information. Furthermore, based on the target historical path and the corresponding road traffic information, the method determines the target average speed of the vehicle along the target driving path. This application, by acquiring the target driving path from the road network information using the target historical path, achieves the acquisition of vehicle driving information in navigation-free scenarios, thereby determining the average speed of the vehicle along the target driving path in navigation-free scenarios. This avoids the impact of navigation-free scenarios on vehicle performance, improves vehicle driving safety, and optimizes the driving experience.

[0060] In the above embodiments, the coordinates of the target historical path and the coordinates mapped to those coordinates in the road network information can be combined with... Figure 2 To understand further, Figure 2 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application, as shown below. Figure 2 As shown, the method includes:

[0061] S201, Obtain the historical coordinates corresponding to the target historical path, wherein the historical coordinates include the coordinates passed by the vehicle when traveling along the target historical path.

[0062] In some implementations, when a vehicle travels along a target historical path, the coordinates of the locations the vehicle passes through are collected and stored as historical coordinates of the target historical path.

[0063] Among these features, the historical coordinates of the collected target historical path can be stored in a set location, such as a server that interacts with the vehicle, or a storage device mounted on the vehicle itself.

[0064] Furthermore, based on the set identification information, a query is performed in the set storage location to obtain the historical coordinates corresponding to the target historical path.

[0065] S202, from the historical coordinate points, obtain the coordinate points that satisfy the first preset curvature condition as the first candidate coordinate points.

[0066] Optionally, a corresponding condition can be set based on the curvature of the coordinate points in the coordinate sequence, and this condition can be determined as the first preset curvature condition.

[0067] In some implementations, all historical coordinate points of the target historical path can be sorted based on curvature values, and coordinate points with curvature values ​​greater than or equal to a set curvature threshold can be identified as the first candidate coordinate points of the target historical path.

[0068] In other implementations, all historical coordinates of the target historical path can be sorted from high to low based on curvature values. From the sorted historical coordinates, a set number of coordinates can be selected, starting with the first historical coordinate, as the first candidate coordinates corresponding to the target historical path.

[0069] S203, determine the starting coordinate point, ending coordinate point and first candidate coordinate point of the target historical path as the coordinate points on the target historical path.

[0070] In this embodiment of the application, the path features of the target driving path can be obtained by using the coordinate points on the target historical path.

[0071] Optionally, the coordinates on the target historical path can be identified as the first coordinates. The first coordinates can be mapped in the road network information to obtain the mapped coordinates of the first coordinates in the road network information, and then the target driving path corresponding to the target historical path composed of the first coordinates can be obtained in the road network information.

[0072] Specifically, the starting point coordinates of the target historical path can be determined as the starting coordinates, and the ending point coordinates can be determined as the ending coordinates of the target historical path.

[0073] Furthermore, by using the historical coordinates on the target historical path of the target driving path, the path features of the intermediate trajectory of the target driving path can be obtained. Therefore, the starting coordinates and ending coordinates of the target driving path can be combined with the first candidate coordinates to obtain the first coordinates corresponding to the target historical path.

[0074] For example, if we set a target historical path H, with the starting coordinate point H1, the ending coordinate point H2, and the first candidate coordinate points including H3, H4, ..., Hn, then the first coordinate points of the target historical path H include {H1, H2, H3, H4, ..., Hn}.

[0075] S204, Obtain the points in the road network information that have the same coordinates as the target historical path coordinates, and use them as the coordinates mapped from the target historical path coordinates in the road network information.

[0076] In this embodiment of the application, the coordinate points in the road network information that match the coordinate points on the target historical path can be used as the coordinate points mapped from the coordinate points on the target historical path in the road network information.

[0077] Specifically, the coordinates of the target historical path identified as the first coordinate point can be mapped to the coordinates in the road network information and identified as the second coordinate point.

[0078] Furthermore, the coordinate information corresponding to the first coordinate point can be transformed accordingly to determine the coordinate point in the road network information that matches the coordinate information corresponding to the first coordinate point, and this coordinate point can be determined as the second coordinate point mapped by the first coordinate point in the road network information.

[0079] For example, if the first coordinate point is set to include 18 coordinate points, the GPS coordinate values ​​of these 18 coordinate points can be obtained respectively, and the 18 road network information coordinate points corresponding to the GPS coordinate values ​​of these 18 coordinate points can be determined in the road network information. These 18 road network information coordinate points are the second coordinate points mapped by the first coordinate point in the road network information.

[0080] S205, determine the target driving path as the path formed by the coordinates of the target historical path mapped in the road network information.

[0081] In this embodiment, the path features of the target historical path can be obtained through the first coordinate point; therefore, the path features of the target driving path can be obtained through the second coordinate point. Furthermore, the second coordinate points can be combined according to a set method, and the target driving path of the vehicle in the road network information can be determined based on the combined result.

[0082] Optionally, the path connections in the road network information can be obtained based on all the second coordinate points.

[0083] In practice, the second coordinate points can be connected in a set order in the road network information. For example, the connection order can be set according to the direction of vehicle travel or the passing time of the vehicle corresponding to the second coordinate point.

[0084] Furthermore, obtain the path connection formed by all the coordinate points mapped from the coordinate points on the target historical path in the road network information.

[0085] In this embodiment of the application, the driving path corresponding to the path connection of the second coordinate point may have errors. Therefore, it is necessary to further compare the driving path corresponding to the path connection with the target historical path, and determine whether the driving path corresponding to the path connection is the target driving path corresponding to the target historical path in the road network information based on the comparison result.

[0086] Optionally, the determination can be made based on the degree of overlap between the driving path corresponding to the path connection and the target historical path.

[0087] Furthermore, in response to the path connection coinciding with the target historical path, the path corresponding to the path connection is determined as the target driving path.

[0088] Among them, a set overlap threshold can be obtained. When the overlap between the path corresponding to the path connection and the target historical path is greater than or equal to the set overlap threshold, it can be determined that the path corresponding to the path connection overlaps with the target historical path.

[0089] Furthermore, the path corresponding to this path connection can be identified as the target driving path in the road network information corresponding to the target historical path.

[0090] The vehicle speed determination method proposed in this application selects coordinate points that satisfy a first preset curvature condition from the historical coordinates of the target historical path as first candidate coordinate points. Based on the start and end coordinate points of the target historical path and the first candidate coordinate points, it obtains the coordinate points on the target historical path that need to be mapped in the road network information. Further, it obtains the coordinate points mapped from the coordinate points on the target historical path in the road network information, and determines the target driving path corresponding to the target historical path in the road network information based on these mapped coordinate points. In this application, the coordinate points on the target historical path are obtained through the curvature condition, ensuring that the coordinate points on the target historical path cover the path features of the target historical path, thus improving the matching accuracy of the target driving path in the road network information. By obtaining the corresponding mapped coordinate points from the target historical path in the road network information based on the coordinate points on the target historical path, the target driving path matched by the target historical path in the road network information is determined. This enables the acquisition of relevant data in the road network information when navigation is unavailable, avoiding the impact of navigation-free scenarios on vehicle performance, improving vehicle driving safety, and optimizing the driving experience.

[0091] In the above embodiments, the path connection may not overlap with the target's historical path, which can be combined with... Figure 3 To understand further, Figure 3 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application, as shown below. Figure 3 As shown, the method includes:

[0092] S301, in response to the fact that the path connection does not coincide with the target historical path, update the coordinate points mapped in the road network information of the coordinate points on the target historical path until the path connection corresponding to the coordinate points mapped in the road network information of the updated target historical path coincides with the target historical path.

[0093] In this embodiment of the application, it is possible that the path connection constructed by the second coordinate point does not coincide with the target historical path. Therefore, it is necessary to make corresponding adjustments to the second coordinate point in order to obtain the target driving path corresponding to the target historical path in the road network information.

[0094] One possible approach is to update the second coordinate point by adjusting the first coordinate point.

[0095] Furthermore, obtain abnormal historical path segments in the target historical path that do not overlap with the path connection.

[0096] In this embodiment, the target historical path and the path connections can be divided into a set number of path segments, and the corresponding segments in the target historical path and the path connections can be grouped together. The overlap degree of each group of path segments is then obtained.

[0097] Optionally, the path can be divided into segments based on the first coordinate point of the target historical path, and the path between two adjacent first coordinate points can be divided into a path segment in sequence, and the path segment that matches it in the path connection can be obtained.

[0098] Furthermore, obtain the path segment group with an overlap degree less than the set overlap degree threshold, and identify the segments belonging to the target historical path as abnormal historical path segments.

[0099] Adjust the coordinates of the target historical path based on the abnormal historical path fragments, and obtain the coordinates of the updated target historical path in the road network information based on the adjusted coordinates of the target historical path.

[0100] In this embodiment of the application, abnormal historical path segments can be adjusted to adjust the first coordinate point, and the new coordinate point mapped by the adjusted first coordinate point can be obtained from the road network information and determined as the updated second coordinate point.

[0101] Optionally, the first abnormal coordinate point in the coordinate points on the target historical path can be obtained from the abnormal historical path segment.

[0102] Specifically, the coordinate points corresponding to the abnormal historical path segments can be obtained from the first coordinate points, and the coordinate points that cause the abnormal path segments and the corresponding path lines to not coincide can be obtained from them and determined as the first abnormal coordinate points.

[0103] Optionally, the abnormal historical path segments can be further divided, and the first abnormal coordinate point can be determined by the degree of overlap between the divided segments and the path connection.

[0104] Furthermore, the historical coordinate points corresponding to the target historical path are filtered based on the first abnormal coordinate point, and the first adjustment coordinate point corresponding to the first abnormal coordinate point is determined from the filtered historical coordinate points.

[0105] Specifically, the first abnormal coordinate point can be deleted from the historical coordinate points corresponding to the target historical path, thereby filtering the historical coordinate points based on the first abnormal coordinate point. Then, a coordinate point that meets the set criteria is selected from the historical coordinate points after deleting the first abnormal coordinate point and used as the first adjustment coordinate point corresponding to the first abnormal coordinate point.

[0106] Furthermore, obtain the abnormal historical coordinate points corresponding to the abnormal historical paths, wherein the abnormal historical coordinate points include the first abnormal coordinate point.

[0107] In this embodiment of the application, the coordinate points corresponding to the abnormal historical path segments can be obtained from all historical coordinate points and determined as abnormal historical coordinate points.

[0108] Optionally, the coordinate values ​​of the two ends of the abnormal historical path segment can be obtained, and the coordinate interval corresponding to the abnormal historical path segment can be obtained. Further, the coordinate points whose coordinate values ​​belong to the coordinate interval can be obtained from the historical coordinate points and identified as abnormal historical coordinate points.

[0109] Among them, the abnormal historical coordinate points include the first abnormal coordinate point.

[0110] Among the abnormal historical coordinate points after filtering the first abnormal coordinate point, select the coordinate point that meets the second preset curvature condition as the first adjustment coordinate point corresponding to the first abnormal coordinate point.

[0111] In this embodiment of the application, among the filtered abnormal historical coordinate points, the coordinate points whose curvature meets the second preset curvature condition can be determined as the first adjustment coordinate points of the first abnormal coordinate points.

[0112] Optionally, the curvature of the filtered abnormal historical coordinate points can be sorted, and a set number of coordinate points can be selected as the first adjustment coordinate points corresponding to the first abnormal coordinate point, starting from the coordinate point with the highest curvature value.

[0113] Furthermore, the first adjustment coordinate point is added to the first coordinate point to obtain the adjusted first coordinate point.

[0114] In some implementations, the position of the first adjusted coordinate point in the first coordinate point can be determined based on the position of the first adjusted coordinate point in the historical coordinate points. Based on the determined position, the first adjusted coordinate point is added to the first coordinate point, and the first coordinate point after the addition is determined as the adjusted first coordinate point.

[0115] In other implementations, the road network has a set quantity limit, and based on this limit, the first coordinate point of the target historical path has a set quantity range. If the number of coordinate points in the first coordinate point after adding the first adjusted coordinate point is higher than the set quantity range, the coordinate points in the first coordinate point that meet the set standard can be deleted.

[0116] For example, if the road network is set to limit the number of first coordinate points to 18, then the first coordinate points include B1, B2, B3, ..., B18, where B1 and B2 are the starting and ending coordinate points of the target historical path, respectively, and the curvature of the remaining 16 first coordinate points is sorted from high to low as B2, B3, B4, ..., B17, B18.

[0117] Furthermore, if the first adjustment coordinate point is set to B19, and B19 is added to the first coordinate point, then the first coordinate point will be B1, B2, B3, ..., B18, B19, a total of 19 coordinate points, which exceeds the road network's limit on the number of first coordinate points.

[0118] Therefore, it is necessary to delete at least one of the 17 coordinate points other than the starting coordinate point B1 and the ending coordinate point B2 out of the 19 coordinate points.

[0119] Among them, the coordinate point B18 with the lowest curvature value can be deleted, and the deleted B1, B2, B3, ..., B17, B19 can be used as the first coordinate point after adjustment.

[0120] As another possible implementation, the second coordinate point can be updated by adjusting the second coordinate point.

[0121] In practice, there may be errors when obtaining the second coordinate point that matches the first coordinate point in the road network information. Therefore, the path connection that matches the target historical path can be obtained by adjusting the second coordinate point.

[0122] Among them, abnormal connection segments that do not overlap with the target's historical path are obtained from the path connection.

[0123] Optionally, the target historical path and the path connections can be divided into a set number of path segments, and the corresponding segments in the target historical path and the path connections can be grouped together. The overlap rate of each group of path segments can then be obtained.

[0124] Among all path segment groups, obtain the path segment groups with an overlap degree less than the set overlap degree threshold, and identify the segments that belong to the path connections as abnormal connection segments.

[0125] Furthermore, based on the abnormal connection fragments, the coordinates of the target historical path are adjusted to map to the coordinates in the road network information, and the updated coordinates of the target historical path are obtained to map to the coordinates in the road network information.

[0126] This can be understood as updating all second coordinate points by adjusting the second coordinate point corresponding to the abnormal connection segment.

[0127] Among them, it is possible to obtain the abnormal connection segment, and the second abnormal coordinate point corresponding to the coordinate point mapped in the road network information of the coordinate point on the target historical path.

[0128] Furthermore, the coordinate values ​​of the two ends of the abnormal connection segment can be obtained, thereby determining the coordinate interval corresponding to the abnormal connection segment. Within the second coordinate point, the coordinate points whose coordinate values ​​belong to this coordinate interval are obtained, and the corresponding second abnormal coordinate point is determined from this subset of coordinate points.

[0129] Accordingly, the second updated coordinate point is determined based on the second abnormal coordinate point.

[0130] In this embodiment, after determining the second abnormal coordinate point, the historical coordinate point on the target historical path corresponding to the second abnormal coordinate point can be determined from the historical coordinate points of the target historical path. Based on this coordinate point, the coordinate point is remapped in the road network information, and the coordinate point in the remapped road network information is determined as the second updated coordinate point corresponding to the second abnormal coordinate point.

[0131] For example, if the historical coordinate point corresponding to the second abnormal coordinate point C1 on the target historical path is set to C2, then based on the coordinate information of coordinate point C2, the matching coordinate point C3 is obtained again from the road network information, and coordinate point C3 is determined as the second updated coordinate point corresponding to the second abnormal coordinate point.

[0132] Furthermore, the second updated coordinate point replaces the second abnormal coordinate point in the coordinate points mapped in the road network information of the target historical path coordinate point, and the updated coordinate points mapped in the road network information of the target historical path coordinate point are obtained.

[0133] In this embodiment of the application, the position of the second abnormal coordinate point can be obtained from the position of the second coordinate point, the second abnormal coordinate point can be deleted from the position, and the second updated coordinate point can be filled into the position, thereby realizing the update of the second coordinate point.

[0134] In some implementations, there is a set limit on the number of times the second coordinate point can be updated. The update of the second coordinate point includes obtaining a new second coordinate point based on the adjusted first coordinate point, and / or updating the second coordinate point.

[0135] If the number of updates to the second coordinate point exceeds the set limit, and the path line corresponding to the updated second coordinate point still cannot coincide with the target historical path, it can be determined that there is an error in the current adjustment and update of the first coordinate point and / or the adjustment and update of the second coordinate point.

[0136] Specifically, the update count of the second coordinate point can be monitored and compared with a set update count threshold. In response to the update count of the coordinate point mapped to the coordinate point in the road network information on the target historical path being greater than or equal to the update count threshold, the target historical path is divided into paths, and the obtained segment path is taken as the first sub-path of the target historical path.

[0137] In scenarios where the number of updates to the second coordinate point is greater than or equal to the update threshold, and the path connection corresponding to the updated second coordinate point still cannot coincide with the target historical path, the target historical path can be further split, and the path segment corresponding to the split target historical path can be determined as the first sub-path of the target historical path.

[0138] Furthermore, the first sub-coordinate point of the first sub-path is obtained, and based on the sub-coordinate point mapped in the road network information corresponding to each first sub-coordinate point, the coordinate points mapped in the road network information of the updated target historical path coordinate points are obtained.

[0139] In implementation, the sub-historical coordinate points corresponding to the first sub-path can be obtained from the historical coordinate points of the target historical path, and the coordinate points that satisfy the first preset curvature condition can be determined as the first sub-coordinate points corresponding to the first sub-path.

[0140] Furthermore, the coordinates mapped from the first sub-coordinate point in the road network information are obtained and determined as the second sub-coordinate point. Based on the second sub-coordinate point mapped from the first sub-coordinate point of each first sub-path in the road network information, all the second sub-coordinate points are combined according to a set order, and the combined coordinate point is determined as the updated second coordinate point.

[0141] It should be noted that there is a set number of first sub-paths. When the path connection corresponding to the updated second coordinate point obtained based on the current number of first sub-paths does not overlap with the target historical path, the set number of first sub-paths can be increased, and the target historical path can be divided based on the increased set number to obtain the increased set number of first sub-paths.

[0142] Furthermore, the updated second coordinate point is obtained based on the increased set number of first sub-paths.

[0143] For example, in the current round, the target driving path is divided into two first sub-paths. If the path connecting the updated second coordinate point obtained based on the two first sub-paths does not match the target historical path, the target driving path is divided into three first sub-paths, and the second coordinate point is updated based on the three first sub-paths. This process continues until the path connecting the updated second coordinate point coincides with the target historical path.

[0144] The vehicle speed determination method proposed in this application updates the second coordinate point when the path connection does not coincide with the target historical path, until the path connection corresponding to the updated second coordinate point matches the target historical path. This improves the accuracy of the vehicle's target driving path in the road network information, and thus improves the accuracy of the vehicle's relevant driving parameters obtained from the road network information in navigation-free scenarios.

[0145] In the above embodiments, the target average vehicle speed can be combined with... Figure 4 To understand further, Figure 4 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application, as shown below. Figure 4 As shown, the method includes:

[0146] S401, divide the target driving route into segments, and use the divided segments as the driving segments of the target driving route.

[0147] In this embodiment of the application, coordinate nodes for division can be selected from the second coordinate point of the target driving path based on a set standard, and the target driving path can be divided according to two adjacent coordinate nodes, thereby obtaining the driving segment of the target driving path.

[0148] Optionally, the second coordinate points can be sorted based on curvature, and a set number of coordinate points can be selected as coordinate nodes for dividing the target driving path, starting from the second coordinate point with the highest curvature.

[0149] Optionally, a set number of coordinate points can be determined from the second coordinate points based on a set algorithm, and these points can be designated as coordinate nodes for dividing the target driving path.

[0150] S402, based on the road traffic information of the road segment in the road network information, obtain the average speed of the vehicle on the road segment.

[0151] In practice, road traffic information corresponding to each driving segment can be obtained from the road network information, and the mileage and travel time parameters of the vehicle on each driving segment can be obtained from the road traffic information corresponding to each driving segment, thereby determining the average speed of the vehicle on each driving segment.

[0152] For example, if we set the mileage parameter of the vehicle on the road segment step-i to be S and the travel time to be T, then the average speed of the vehicle on the road segment step-i is V = S / T.

[0153] S403 determines the target average speed of the vehicle on the target driving path based on the average speed of the vehicle on all driving segments.

[0154] In this embodiment of the application, the average vehicle speed on all driving segments can be further calculated, and the target average vehicle speed on the target driving path can be determined based on the calculation results.

[0155] Optionally, the average speed of the vehicle on all driving segments can be obtained, and this average speed can be used as the target average speed of the vehicle on the target driving path.

[0156] like Figure 5 As shown, the target driving route is divided into five driving segments, including driving segment step1, driving segment step2, driving segment step3, driving segment step4, and driving segment step5.

[0157] The average vehicle speed V1 on road segment step 1 is 20 km / h, the average vehicle speed V2 on road segment step 2 is 40 km / h, the average vehicle speed V3 on road segment step 3 is 60 km / h, the average vehicle speed V4 on road segment step 4 is 50 km / h, and the average vehicle speed V5 on road segment step 5 is 30 km / h.

[0158] Then the vehicle is Figure 5 The target average vehicle speed V on the target driving path is the average of V1, V2, V3, V4 and V5, where V = 40 km / h.

[0159] In some implementations, the energy consumption of a vehicle traveling on a target path can be determined based on the vehicle's target average speed.

[0160] Optionally, the power generation demand data corresponding to the vehicle on the target driving path can be obtained based on the target average vehicle speed on the target driving path, thereby determining the energy consumption of the vehicle on the target driving path.

[0161] Optionally, the vehicle's operating parameters on the target driving path can be obtained based on the target average vehicle speed.

[0162] This involves acquiring historical vehicle speed data along a target historical path and then extracting speed change data along that path. Based on the acquired speed change data, the vehicle's speed change data along the target driving path is determined.

[0163] Furthermore, based on the target average vehicle speed and speed change data on the target driving path, the vehicle's operating parameters on the target driving path are obtained.

[0164] This allows for the acquisition of vehicle speed change data between segments and sections of the target driving path. Based on the speed change data between segments and the average speed of each segment, the vehicle's operating condition curve on the target driving path can be determined.

[0165] Furthermore, based on the operating parameters, the target energy consumption of the vehicle when it travels on the target driving path is predicted.

[0166] Optionally, the operating parameters of the vehicle on the target driving path can be analyzed and calculated based on a set algorithm, and the target energy consumption of the vehicle when driving on the target driving path can be determined based on the results of the analysis and calculation.

[0167] The algorithm can include a vehicle dynamics simulation model or vehicle dynamics calculation equations, which are not limited here.

[0168] The proposed speed determination method obtains the road segments of the target driving path and the vehicle's average speed on each road segment. Based on the average speed across all road segments, it obtains the target average speed of the vehicle on the target driving path. This method enables the determination of the target average speed on the target driving path even without navigation, avoiding the impact of the lack of navigation on the vehicle's functions based on average speed, improving driving safety, and optimizing the driving experience.

[0169] To better understand the above embodiments, it can be combined with Figure 6 , Figure 6 This is a flowchart illustrating a vehicle speed determination method according to another embodiment of this application, as shown below. Figure 6 As shown, the method includes:

[0170] Based on the road segment data of the vehicle's already driven sections, the vehicle's target historical path is determined from the candidate historical paths. The coordinates of the target historical path's coordinates in the road network information are then mapped to those coordinates. Further, it is determined whether the path connecting the mapped coordinates of the target historical path's coordinates in the road network information coincides with the target historical path; the overlapping path is then identified as the vehicle's target driving path in the road network information.

[0171] In scenarios where the path connection does not overlap with the target's historical path:

[0172] As one possible implementation, abnormal historical path segments that do not overlap with the path connection in the target historical path can be obtained, and the coordinate points on the target historical path can be adjusted according to the abnormal historical path segments. Then, the coordinate points mapped in the road network information can be obtained from the adjusted coordinate points on the target historical path.

[0173] As another possible implementation, abnormal connection segments in the path connection that do not overlap with the target historical path can be obtained, and the coordinates of the coordinate points on the target historical path mapped in the road network information can be updated based on the abnormal connection segments.

[0174] Furthermore, the path connecting the coordinate points of the updated target historical path to the coordinate points mapped in the road network information is obtained, and it is determined whether the path connects to the target historical path. The path connecting the coordinate points of the updated target historical path to the coordinate points mapped in the road network information that overlap with the target historical path is determined as the target driving path of the vehicle in the road network information.

[0175] If the path connecting the coordinates of the updated target historical path to the mapped coordinates in the road network information does not coincide with the target historical path, then the process will continue to update the coordinates of the updated target historical path to the mapped coordinates in the road network information using the aforementioned related content, until the path connecting the updated target historical path to the mapped coordinates in the road network information coincides with the target historical path.

[0176] There is a set threshold for the number of times the coordinate points on the target historical path are mapped to the coordinate points in the road network information. When the number of times the coordinate points on the target historical path are mapped to the coordinate points in the road network information is greater than or equal to the set threshold, and the path line corresponding to the updated coordinate points on the target historical path are mapped to the coordinate points in the road network information still does not overlap with the target historical path, the target historical path can be divided, the corresponding first sub-path can be obtained, the first sub-coordinate point of each first sub-path can be obtained, and the second sub-coordinate point corresponding to the first sub-coordinate point can be obtained in the road network information. Based on all the second sub-coordinate points, the updated coordinate points on the target historical path are mapped to the coordinate points in the road network information.

[0177] Further, the path lines corresponding to the coordinate points mapped in the road network information of the updated target historical path are obtained, and it is determined whether they coincide with the target historical path. The path lines corresponding to the coordinate points mapped in the road network information of the updated target historical path that coincide with the target historical path are determined as the vehicle's target driving path in the road network information. If the path lines corresponding to the coordinate points mapped in the road network information of the updated target historical path do not coincide with the target historical path, the process returns to continue dividing the target historical path until the path lines corresponding to the coordinate points mapped in the road network information of the updated target historical path coincide with the target historical path.

[0178] The target driving path is divided into segments to obtain the corresponding driving sections. Based on the average speed of the vehicle in the driving section, the target average speed of the vehicle on the target driving path is obtained.

[0179] In this application, the target driving path is obtained from the road network information through the target historical path, which realizes the acquisition of vehicle driving information in the absence of navigation, and thus realizes the determination of the average vehicle speed on the target driving path in the absence of navigation. This avoids the impact of the absence of navigation on vehicle performance, improves vehicle driving safety, and optimizes the vehicle driving experience.

[0180] Corresponding to the vehicle speed determination methods proposed in the above embodiments, one embodiment of this application also proposes a vehicle speed determination device. Since the vehicle speed determination device proposed in this application corresponds to the vehicle speed determination methods proposed in the above embodiments, the implementation methods of the above vehicle speed determination methods are also applicable to the vehicle speed determination device proposed in this application, and will not be described in detail in the following embodiments.

[0181] Figure 7 This is a schematic diagram of the structure of a vehicle speed determining device according to an embodiment of this application, as shown below. Figure 7 As shown, the vehicle speed determining device 700 includes a matching module 71, an acquisition module 72, and a determining module 73, wherein:

[0182] The matching module 71 is used to obtain road segment data of the road segments already driven by the vehicle in response to the vehicle's navigation function not being enabled, and to determine the target historical path that matches the road segment data from the vehicle's historical path, wherein the road segments already driven are the road segments driven by the vehicle from the start time to a preset duration.

[0183] The acquisition module 72 is used to acquire the coordinates of the coordinates on the target historical path mapped in the road network information, and to use the path formed by the coordinates mapped in the road network information as the target driving path. The road network information includes path coordinates and road traffic information of the path.

[0184] The determination module 73 is used to calculate the target average vehicle speed on the target driving path based on the target driving path and the road traffic conditions information of the target driving path.

[0185] In this embodiment of the application, the acquisition module 72 is further configured to: acquire historical coordinate points corresponding to the target historical path, wherein the historical coordinate points include coordinate points passed by the vehicle when traveling along the target historical path; acquire coordinate points that satisfy the first preset curvature condition from the historical coordinate points as first candidate coordinate points; and determine the starting coordinate point, ending coordinate point and first candidate coordinate point of the target historical path as coordinate points on the target historical path.

[0186] In this embodiment of the application, the acquisition module 72 is further configured to: acquire points in the road network information that are the same as the coordinate points on the target historical path, and use them as the coordinate points mapped by the coordinate points on the target historical path in the road network information; and determine the path formed by the coordinate points mapped by the coordinate points on the target historical path in the road network information as the target driving path.

[0187] In this embodiment of the application, the acquisition module 72 is further configured to: acquire the path line formed by all coordinate points mapped to the coordinate points on the target historical path in the road network information; in response to the path line coinciding with the target historical path, determine the path corresponding to the path line as the target driving path; in response to the path line not coinciding with the target historical path, update the coordinate points mapped to the coordinate points on the target historical path in the road network information until the path line formed by the updated coordinate points mapped to the coordinate points on the target historical path in the road network information coincides with the target historical path.

[0188] In this embodiment of the application, the acquisition module 72 is further configured to: acquire abnormal historical path segments in the target historical path that do not overlap with the path connection; adjust the coordinate points on the target historical path according to the abnormal historical path segments; and acquire the coordinate points mapped in the road network information of the updated coordinate points on the target historical path according to the adjusted coordinate points on the target historical path.

[0189] In this embodiment of the application, the acquisition module 72 is further configured to: acquire an abnormal historical path segment, and a first abnormal coordinate point corresponding to the coordinate points on the target historical path; filter the historical coordinate points corresponding to the target historical path according to the first abnormal coordinate point, and determine the first adjusted coordinate point corresponding to the first abnormal coordinate point from the filtered historical coordinate points; add the adjusted coordinate point on the target historical path to the coordinate points on the target historical path, and acquire the adjusted coordinate points on the target historical path.

[0190] In this embodiment of the application, the acquisition module 72 is further configured to: acquire abnormal historical coordinate points corresponding to abnormal historical paths, wherein the abnormal historical coordinate points include a first abnormal coordinate point; and select a coordinate point that satisfies a second preset curvature condition from the abnormal historical coordinate points after filtering the first abnormal coordinate point, as the first adjustment coordinate point corresponding to the first abnormal coordinate point.

[0191] In this embodiment of the application, the acquisition module 72 is further configured to: acquire abnormal connection segments in the path connection that do not overlap with the target historical path; adjust the coordinate points mapped in the road network information of the coordinate points on the target historical path according to the abnormal connection segments, and acquire the updated coordinate points mapped in the road network information of the coordinate points on the target historical path.

[0192] In this embodiment of the application, the acquisition module 72 is further configured to: acquire the abnormal connection segment, and the second abnormal coordinate point corresponding to the coordinate point mapped in the road network information of the coordinate point on the target historical path; determine the corresponding second updated coordinate point based on the second abnormal coordinate point; replace the second abnormal coordinate point corresponding to the coordinate point mapped in the road network information of the coordinate point on the target historical path with the second updated coordinate point, and acquire the updated coordinate point mapped in the road network information of the coordinate point on the target historical path.

[0193] In this embodiment of the application, the acquisition module 72 is further configured to: in response to the update count of the coordinate points mapped to the coordinate points in the road network information on the target historical path being greater than or equal to the update count threshold, divide the target historical path into paths and take the acquired fragment paths as the first sub-path of the target historical path; acquire the first sub-coordinate points of the first sub-path, and acquire the updated coordinate points mapped to the coordinate points on the target historical path in the road network information based on the sub-coordinate points mapped to each first sub-coordinate point in the road network information.

[0194] In this embodiment of the application, the determining module 73 is further configured to: divide the target driving path into road segments and use the divided road segments as driving segments of the target driving path; obtain the average vehicle speed on the driving segments based on the road traffic information in the road network information; and determine the target average vehicle speed on the target driving path based on the average vehicle speed on all driving segments.

[0195] In this embodiment of the application, the determining module 73 is further configured to: obtain the average value of the average vehicle speed on all driving segments, and use the average value as the target average vehicle speed on the target driving path.

[0196] The vehicle speed determination device proposed in this application acquires road segment data of the sections the vehicle has already driven, and determines a matching path from all candidate historical paths using this road segment data, which serves as the target historical path for the vehicle's current trip. By mapping the coordinates of the coordinates on the target historical path to the coordinates in the road network information, the device obtains the vehicle's target driving path within the road network information, and also retrieves the road traffic information corresponding to the target driving path from the road network information. Furthermore, based on the target historical path and the corresponding road traffic information, the device determines the target average speed of the vehicle on the target driving path. In this application, by obtaining the target driving path from the road network information using the target historical path, the device acquires the vehicle's driving information in navigation-free scenarios, thereby determining the average speed of the vehicle on the target driving path in navigation-free scenarios. This avoids the impact of navigation-free scenarios on vehicle performance, improves vehicle driving safety, and optimizes the driving experience.

[0197] To achieve the above embodiments, this application also proposes an electronic device, a computer-readable storage medium, and a computer program product.

[0198] Figure 8A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of this application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0199] like Figure 8 As shown, the device 800 includes a memory 81, a processor 82, and a computer program stored on the memory 81 and executable on the processor 82. When the processor 82 executes program instructions, it implements the vehicle speed determination method proposed in the above embodiments.

[0200] This application acquires road segment data of the routes already driven by the vehicle, and uses this data to determine a matching path from all candidate historical paths, serving as the target historical path for the vehicle's current trip. By mapping the coordinates of the target historical path onto the road network information, the application obtains the vehicle's target driving path within the road network information, and also retrieves the corresponding road traffic information from the road network information. Furthermore, based on the target historical path and the corresponding road traffic information, the application determines the target average speed of the vehicle along the target driving path. In this application, by obtaining the target driving path from the road network information using the target historical path, the application achieves the acquisition of vehicle driving information in navigation-free scenarios, thereby determining the average speed of the vehicle along the target driving path in navigation-free scenarios. This avoids the impact of navigation-free scenarios on vehicle performance, improves vehicle driving safety, and optimizes the driving experience.

[0201] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor 82, implements the vehicle speed determination method proposed in the above embodiments.

[0202] This application acquires road segment data of the routes already driven by the vehicle, and uses this data to determine a matching path from all candidate historical paths, serving as the target historical path for the vehicle's current trip. By mapping the coordinates of the target historical path onto the road network information, the application obtains the vehicle's target driving path within the road network information, and also retrieves the corresponding road traffic information from the road network information. Furthermore, based on the target historical path and the corresponding road traffic information, the application determines the target average speed of the vehicle along the target driving path. In this application, by obtaining the target driving path from the road network information using the target historical path, the application achieves the acquisition of vehicle driving information in navigation-free scenarios, thereby determining the average speed of the vehicle along the target driving path in navigation-free scenarios. This avoids the impact of navigation-free scenarios on vehicle performance, improves vehicle driving safety, and optimizes the driving experience.

[0203] This application provides an embodiment of a vehicle, wherein the vehicle includes the speed determination device described in the above embodiment.

[0204] 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.

[0205] The program code used to implement the method itself can be written in any combination of one or more programming languages. This program code can be presented to the processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0206] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. 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 of the foregoing.

[0207] To facilitate interaction with a user, the systems and techniques described herein can be implemented on a computer 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 can provide input to the computer. Other types of devices can also be used to facilitate 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).

[0208] 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 grid 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., a communication grid). Examples of communication grids include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain grids.

[0209] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact through a communication mesh. 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, a hosting product within the cloud computing service system, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers in distributed systems or servers integrated with blockchain technology.

[0210] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0211] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0212] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0213] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0214] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0215] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0216] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0217] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0218] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.

[0219] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. 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 application should be included within the scope of protection of this application.

Claims

1. A method for determining vehicle speed, characterized in that, The method includes: In response to the vehicle's navigation function not being enabled, the system acquires road segment data of the sections the vehicle has already driven, and determines a target historical path that matches the road segment data from the vehicle's historical paths, wherein the sections the vehicle has driven from the start time to a preset duration. Obtain the coordinates of the coordinates on the target historical path mapped in the road network information, and use the path formed by the coordinates mapped in the road network information as the target driving path, wherein the road network information includes path coordinates and road traffic information of the path; Based on the target driving path and the road traffic conditions along the target driving path, calculate the target average speed of the vehicle on the target driving path; Specifically, the step of obtaining the coordinates of the target historical path mapped to the road network information, and using the path formed by the mapped coordinates in the road network information as the target driving path, wherein the road network information includes path coordinates and road traffic information, including: The points in the road network information that are the same as the coordinate points on the target historical path are obtained and used as the coordinate points mapped from the coordinate points on the target historical path in the road network information. The target driving path is determined by mapping the coordinates of the target historical path to the coordinates in the road network information and forming the path in the road network information. Wherein, determining that the coordinates of the coordinates on the target historical path are mapped to the coordinates in the road network information, and the path formed by the coordinates in the road network information is the target driving path, includes: Obtain the path line formed by all coordinate points mapped from the coordinate points on the target historical path in the road network information, and connect them in the road network information. In response to the path connection coinciding with the target historical path, the path corresponding to the path connection is determined as the target driving path; In response to the fact that the path connection does not coincide with the target historical path, the coordinates of the coordinates on the target historical path mapped in the road network information are updated until the path connection formed by the coordinates of the updated target historical path mapped in the road network information coincides with the target historical path.

2. The method according to claim 1, characterized in that, Obtaining the coordinates of the target historical path includes: Obtain the historical coordinate points corresponding to the target historical path, wherein the historical coordinate points include the coordinate points passed by the vehicle when traveling along the target historical path; From the historical coordinate points, obtain the coordinate points that satisfy the first preset curvature condition as the first candidate coordinate points; The starting coordinate point, ending coordinate point, and first candidate coordinate point of the target historical path are determined as coordinate points on the target historical path.

3. The method according to claim 1, characterized in that, The step of updating the coordinates mapped to the road network information of the coordinate points on the target historical path in response to the path connection not coinciding with the target historical path includes: Obtain abnormal historical path segments in the target historical path that do not overlap with the path; Adjust the coordinates of the target historical path based on the abnormal historical path fragments, and obtain the coordinates of the updated target historical path mapped in the road network information based on the adjusted coordinates of the target historical path.

4. The method according to claim 3, characterized in that, The step of adjusting the coordinate points on the target historical path based on the abnormal historical path fragment includes: Obtain the first abnormal coordinate point corresponding to the coordinate point on the target historical path of the abnormal historical path; The historical coordinate points corresponding to the target historical path are filtered based on the first abnormal coordinate point, and the first adjustment coordinate point corresponding to the first abnormal coordinate point is determined from the filtered historical coordinate points. Add the first adjusted coordinate point to the coordinate points on the target historical path to obtain the adjusted coordinate points on the target historical path.

5. The method according to claim 4, characterized in that, Determining the first adjusted coordinate point corresponding to the first abnormal coordinate point from the filtered historical coordinate points includes: Obtain the abnormal historical coordinate points corresponding to the abnormal historical path, wherein the abnormal historical coordinate points include the first abnormal coordinate point; Among the abnormal historical coordinate points after filtering the first abnormal coordinate point, select the coordinate point that meets the second preset curvature condition as the first adjusted coordinate point corresponding to the first abnormal coordinate point.

6. The method according to claim 1, characterized in that, The step of updating the coordinates mapped to the road network information of the coordinate points on the target historical path in response to the path connection not coinciding with the target historical path includes: Obtain the abnormal connection segments in the path connection that do not overlap with the target historical path; Adjust the coordinates of the target historical path points mapped in the road network information according to the abnormal connection segments, and obtain the updated coordinates of the target historical path points mapped in the road network information.

7. The method according to claim 6, characterized in that, The step of adjusting the coordinates of the target historical path mapped to the road network information based on the abnormal connection fragment, and obtaining the updated coordinates of the target historical path mapped to the road network information, includes: Obtain the abnormal connection segment, and the second abnormal coordinate point corresponding to the coordinate point mapped in the road network information of the coordinate point on the target historical path; Determine the corresponding second update coordinate point based on the second abnormal coordinate point; Replace the second abnormal coordinate point in the road network information with the second updated coordinate point, and obtain the updated coordinate point in the road network information.

8. The method according to claim 1, characterized in that, The step of updating the coordinates mapped in the road network information of the coordinate points on the target historical path in response to the fact that the path connection does not coincide with the target historical path further includes: In response to the fact that the number of updates of the coordinate points mapped to the coordinate points in the road network information on the target historical path is greater than or equal to the number of updates threshold, the target historical path is divided into paths, and the obtained segment path is taken as the first sub-path of the target historical path. Obtain the first sub-coordinate point of the first sub-path, and based on the sub-coordinate point mapped to each first sub-coordinate point in the road network information, obtain the coordinate points mapped to the updated target historical path coordinate points in the road network information.

9. The method according to claim 1, characterized in that, The step of calculating the target average vehicle speed on the target driving path based on the target driving path and the road traffic information of the target driving path includes: The target driving route is divided into road segments, and the divided road segments are used as the driving segments of the target driving route. Based on the road traffic information of the driving segment in the road network information, the average speed of the vehicle on the driving segment is obtained; The target average speed of the vehicle on the target travel path is determined based on the average speed of the vehicle on all travel segments.

10. The method according to claim 9, characterized in that, Determining the target average speed of the vehicle on the target travel path based on the average speed across all travel segments includes: The average speed of the vehicle on all driving segments is obtained, and this average speed is used as the target average speed of the vehicle on the target driving path.

11. A vehicle speed determining device, characterized in that, The device includes: The matching module is used to obtain road segment data of the road segments already driven by the vehicle in response to the vehicle's navigation function not being enabled, and to determine a target historical path that matches the road segment data from the vehicle's historical path, wherein the road segments already driven are the road segments driven by the vehicle from the start time to a preset duration. The acquisition module is used to acquire the coordinates of the coordinates on the target historical path mapped in the road network information, and to take the path formed by the coordinates mapped in the road network information as the target driving path, wherein the road network information includes path coordinates and road traffic information of the path; The determination module is used to calculate the target average vehicle speed on the target driving path based on the target driving path and the road traffic information of the target driving path; The acquisition module is further configured to: The points in the road network information that are the same as the coordinate points on the target historical path are obtained and used as the coordinate points mapped from the coordinate points on the target historical path in the road network information. The target driving path is determined by mapping the coordinates of the target historical path to the coordinates in the road network information and forming the path in the road network information. The acquisition module is further configured to: Obtain the path line formed by all coordinate points mapped from the coordinate points on the target historical path in the road network information, and connect them in the road network information. In response to the path connection coinciding with the target historical path, the path corresponding to the path connection is determined as the target driving path; In response to the fact that the path connection does not coincide with the target historical path, the coordinates of the coordinates on the target historical path mapped in the road network information are updated until the path connection formed by the coordinates of the updated target historical path mapped in the road network information coincides with the target historical path.

12. An electronic device, characterized in that, Including memory and processor; The processor reads executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the method as described in any one of claims 1-10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-10.

14. A vehicle, characterized in that, The vehicle includes the device described in claim 11.

Images