Vehicle heading angle determination method, device, storage medium and electronic equipment

Abstract

This disclosure relates to a method, apparatus, storage medium, and electronic device for determining a vehicle heading angle, to improve the accuracy of vehicle heading angle determination. The method includes: acquiring a first heading angle corresponding to the vehicle, the first heading angle being a heading angle obtained from a navigation system; acquiring a first curve equation and a second curve equation corresponding to the vehicle, the first curve equation being used to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system, and the second curve equation being used to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system; determining a second heading angle corresponding to the vehicle based on the vehicle's position information, the first curve equation, and the second curve equation; and determining a target heading angle corresponding to the vehicle based on the first heading angle and the second heading angle.

Description

Technical Field

[0001] This disclosure relates to the field of data processing technology, and more specifically, to a method, apparatus, storage medium, and electronic device for determining a vehicle heading angle. Background Technology

[0002] In vehicles, navigation systems such as GPS (Global Positioning System) are typically used to obtain the vehicle's heading angle data. However, the heading angle data obtained by the navigation system is affected by many factors. For example, in situations such as high-speed turning or tire slippage, the actual direction of the vehicle's movement may deviate from the obtained heading angle data, leading to incorrect decisions in subsequent vehicle driving. Summary of the Invention

[0003] The purpose of this disclosure is to provide a method, apparatus, storage medium, and electronic device for determining a vehicle heading angle, which improves the accuracy of the determined vehicle heading angle by considering heading angles obtained in different ways.

[0004] According to a first aspect of the present disclosure, a method for determining a vehicle heading angle is provided, the method comprising:

[0005] Obtain the first heading angle corresponding to the vehicle, wherein the first heading angle is the heading angle of the vehicle obtained from the navigation system;

[0006] Obtain the first curve equation and the second curve equation corresponding to the vehicle. The first curve equation is used to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system. The second curve equation is used to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system.

[0007] Based on the vehicle's position information, the first curve equation, and the second curve equation, determine the second heading angle corresponding to the vehicle;

[0008] The target heading angle corresponding to the vehicle is determined based on the first heading angle and the second heading angle.

[0009] Optionally, the vehicle's position information includes a horizontal coordinate parameter, and the step of determining the second heading angle corresponding to the vehicle based on the vehicle's position information, the first curve equation, and the second curve equation includes:

[0010] Obtain the first angle between the tangent line on the first curve equation corresponding to the point at the horizontal coordinate parameter and the preset coordinate axis in the world coordinate system;

[0011] Obtain the second angle between the tangent line on the second curve equation at the origin of the abscissa of the vehicle coordinate system and a preset coordinate axis in the vehicle coordinate system;

[0012] The second heading angle corresponding to the vehicle is determined based on the first included angle and the second included angle.

[0013] Optionally, the step of determining the second heading angle corresponding to the vehicle based on the first included angle and the second included angle includes:

[0014] When there are multiple first included angles, the first included angles are filtered based on the first heading angle to determine the target included angle;

[0015] The second heading angle corresponding to the vehicle is determined based on the target angle and the second angle.

[0016] Optionally, the step of obtaining the first curve equation corresponding to the vehicle includes:

[0017] Obtain the location parameter information of multiple locations on the road where the vehicle is located;

[0018] The equation of the first curve is obtained by fitting the position parameter information of each of the multiple location points.

[0019] Optionally, the first heading angle and the second heading angle are the heading angles at the target time, and the step of determining the target heading angle corresponding to the vehicle based on the first heading angle and the second heading angle includes:

[0020] Based on the first heading angle at the target time, the first predicted heading angle at the next time after the target time is predicted;

[0021] Based on the second heading angle at the target time, the second predicted heading angle for the next time after the target time is predicted;

[0022] The first predicted heading angle and the second predicted heading angle are fused to obtain the target heading angle of the vehicle at the next time after the target time.

[0023] Optionally, the step of predicting the first predicted heading angle for the next time after the target time based on the first heading angle at the target time includes:

[0024] The first heading angle at the target time is filtered to obtain the first predicted heading angle;

[0025] The step of predicting the second predicted heading angle for the next time after the target time based on the second heading angle at the target time includes:

[0026] The second heading angle at the target time is filtered to obtain the second predicted heading angle.

[0027] Optionally, the method further includes:

[0028] The first heading angles corresponding to the first time point and the second time point are obtained respectively. The first time point is a time point before the target time point, determined according to the acquisition period of the first heading angle. The second time point is a time point after the target time point, determined according to the acquisition period of the first heading angle. The first time point and the second time point are adjacent first heading angle acquisition times.

[0029] The first heading angles corresponding to the third and fourth times are obtained respectively. The third time is a time before the target time, determined according to the acquisition period of the second heading angle. The fourth time is a time after the target time, determined according to the acquisition period of the second heading angle. The third time and the fourth time are adjacent second heading angle acquisition times.

[0030] The first heading angle at the first time point and the first heading angle at the second time point are interpolated using linear interpolation to obtain the first heading angle at the target time.

[0031] The second heading angle at the third time point and the second heading angle at the fourth time point are interpolated using linear interpolation to obtain the second heading angle at the target time.

[0032] According to a second aspect of the present disclosure, a vehicle heading angle determination device is provided, the device comprising:

[0033] The first acquisition module is configured to acquire the first heading angle corresponding to the vehicle, wherein the first heading angle is the heading angle of the vehicle obtained from the navigation system;

[0034] The second acquisition module is configured to acquire the first curve equation and the second curve equation corresponding to the vehicle. The first curve equation is used to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system, and the second curve equation is used to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system.

[0035] The first determining module is configured to determine the second heading angle corresponding to the vehicle based on the vehicle's position information, the first curve equation, and the second curve equation.

[0036] The second determining module is configured to determine the target heading angle corresponding to the vehicle based on the first heading angle and the second heading angle.

[0037] According to a third aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method described in the first aspect above.

[0038] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising:

[0039] A memory on which computer programs are stored;

[0040] A processor for executing the computer program in the memory to implement the steps of the method described in the first aspect above.

[0041] The above technical solution obtains a first curve equation for determining the coordinates of different points on the road where the vehicle is located in the world coordinate system, and a second curve equation for determining the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system. Based on the vehicle's position information, the first curve equation, and the second curve equation, the vehicle's corresponding second heading angle is determined. Then, based on the second heading angle and the vehicle's first heading angle from the navigation system, the vehicle's corresponding target heading angle can be obtained. Since the second heading angle is determined based on the vehicle's position information, the corresponding first curve equation, and the corresponding second curve equation, the accuracy of the second heading angle is improved. Furthermore, since the target heading angle is determined based on the first and second heading angles, the accuracy of the target heading angle determination is further improved.

[0042] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0043] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0044] Figure 1 This is a flowchart illustrating a method for determining the heading angle of a vehicle according to an exemplary embodiment of this disclosure.

[0045] Figure 2 This is a schematic diagram illustrating a uniform heading angle acquisition period as shown in an exemplary embodiment of this disclosure.

[0046] Figure 3 This is a schematic diagram of a structure for processing based on a federated Kalman filter, as shown in an exemplary embodiment of this disclosure.

[0047] Figure 4 This is a block diagram of a vehicle heading angle determination device shown in an exemplary embodiment of the present disclosure.

[0048] Figure 5 This is a block diagram of an electronic device shown in an exemplary embodiment of the present disclosure. Detailed Implementation

[0049] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0050] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0051] Although operations or steps are described in a specific order in the accompanying drawings in the embodiments of this disclosure, it should not be construed as requiring these operations or steps to be performed in the specific order or serial order shown, or requiring all of the shown operations or steps to be performed to obtain the desired result. In the embodiments of this disclosure, these operations or steps may be performed serially; they may be performed in parallel; or a portion of these operations or steps may be performed.

[0052] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0053] Meanwhile, it is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0054] The present disclosure will now be described in conjunction with specific embodiments.

[0055] Figure 1 This is a flowchart illustrating a method for determining a vehicle heading angle according to an exemplary embodiment, such as... Figure 1 As shown, the method may include the following steps:

[0056] In step S101, the first heading angle corresponding to the vehicle is obtained. The first heading angle is the heading angle of the vehicle from the navigation system.

[0057] In step S102, the first curve equation and the second curve equation corresponding to the vehicle are obtained. The first curve equation is used to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system, and the second curve equation is used to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system.

[0058] In step S103, the second heading angle corresponding to the vehicle is determined based on the vehicle's position information, the first curve equation, and the second curve equation.

[0059] In step S104, the target heading angle corresponding to the vehicle is determined based on the first heading angle and the second heading angle.

[0060] In this embodiment of the disclosure, the first heading angle can be obtained by calling the interface provided by the navigation system. Optionally, the navigation system may be, for example, a GPS navigation system, a BeiDou navigation system, etc.

[0061] The world coordinate system can be understood as a coordinate system with Beijing as the center, the x-axis pointing due east, the y-axis pointing due north, and the z-axis pointing upwards.

[0062] In the vehicle's own coordinate system, the x-axis points to the left of the vehicle, the y-axis points to the front of the vehicle, and the z-axis points to the top of the vehicle.

[0063] By employing the above technical solution, a first curve equation is obtained to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system, and a second curve equation is obtained to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system. Based on the vehicle's position information, the first curve equation, and the second curve equation, the vehicle's corresponding second heading angle is determined. Then, based on the second heading angle and the vehicle's first heading angle from the navigation system, the vehicle's corresponding target heading angle can be obtained. Since the second heading angle is determined based on the vehicle's position information, the vehicle's corresponding first curve equation, and the vehicle's corresponding second curve equation, the accuracy of the vehicle's corresponding second heading angle can be improved. Furthermore, since the target heading angle is determined based on the first and second heading angles, the accuracy of the target heading angle determination can be further improved.

[0064] In some application scenarios, after determining the target heading angle, this angle can be applied to AR-HUD (Augmented Reality-head-up display) products to ensure drivers receive reliable navigation information and provide a safer and more convenient driving experience. The application of heading angle in AR-HUD products can be found in relevant technologies, which will not be elaborated upon here.

[0065] In some implementations, the step of obtaining the first curve equation corresponding to the vehicle may include the following steps:

[0066] Obtain the position parameter information of multiple locations on the road where the vehicle is located; based on the position parameter information of multiple locations, fit the first curve equation.

[0067] In this embodiment of the disclosure, the road where the vehicle is located can be determined based on the vehicle's location, and then the location parameter information of multiple location points on the road can be obtained. Then, the first curve equation can be fitted based on the location parameter information of the multiple location points.

[0068] Optionally, the location parameter information can be expressed in the form of latitude, longitude, and altitude. Optionally, the location parameter information can be expressed in coordinates in a world coordinate system.

[0069] The following example illustrates the process of obtaining the equation of the first curve:

[0070] For example, suppose the location parameter information of multiple locations on the road where the vehicle is located is obtained as follows:

[0071] (lon1,lat1,alt1), (lon2,lat2,alt1),…, (lon n ,lat n ,alt n )

[0072] Among them, lon n The longitude of the nth road point on the road where the vehicle is located is represented by lat. n The alt symbol represents the latitude of the nth road point on the road where the vehicle is located. n This represents the elevation of the nth road point on the road where the vehicle is located.

[0073] Convert the road's latitude and longitude to the world coordinate system; the corresponding coordinates are:

[0074] (x1,y1,z1), (x2,y2,z2),…, (x n ,y n ,z n )

[0075] Where, x n This represents the coordinates of the nth road point on the road where the vehicle is located, along the x-axis of the world coordinate system. n This represents the coordinates of the nth road point on the road where the vehicle is located, along the y-axis in the world coordinate system. n This represents the coordinates of the nth road point on the road where the vehicle is located, along the z-axis of the world coordinate system.

[0076] In the world coordinate system, on the plane where z = 0, let the equation of the first curve be:

[0077] y = c0 + c1x + c2·x 2 +c3·x 3

[0078] Where c0, c1, c2, and c3 represent coefficients.

[0079] By fitting the equation of the first curve using the least squares method, the coefficients of the first curve equation can be obtained as follows:

[0080] C = (X T X) -1 X T Y

[0081] in,

[0082]

[0083] Based on the above calculations, the equation of the first curve corresponding to the vehicle can be obtained.

[0084] In some implementations, ADAS (Advanced Driving Assistance System) can be used to obtain the position parameter information of multiple locations on the road where the vehicle is located.

[0085] In some implementations, the vehicle's position information includes abscissa parameters. In this case, the step of determining the vehicle's corresponding second heading angle based on the vehicle's position information, the first curve equation, and the second curve equation may include the following steps:

[0086] Obtain the first angle between the tangent line at the point corresponding to the horizontal coordinate parameter on the first curve equation and the preset coordinate axis in the world coordinate system; obtain the second angle between the tangent line at the origin of the horizontal coordinate system of the second curve equation and the preset coordinate axis in the vehicle coordinate system; determine the second heading angle corresponding to the vehicle based on the first and second angles.

[0087] In some implementations, the second curve equation corresponding to the vehicle can be obtained through ADAS.

[0088] In this embodiment, the preset coordinate axis can be either the x-axis or the y-axis. For ease of understanding, the following examples will use the y-axis as the preset coordinate axis for calculation. It should be noted that in actual calculations, the preset coordinate axis can also be set to the x-axis. In this case, the angle relative to the x-axis can be calculated first, and then converted to the angle relative to the y-axis.

[0089] In some implementations, considering that the calculated first included angle may differ by 180 degrees, in order to further improve the accuracy of the determined first included angle, and thus improve the accuracy of the determined second heading angle, in this embodiment of the disclosure, the step of determining the second heading angle corresponding to the vehicle based on the first included angle and the second included angle may include the following steps:

[0090] If there are multiple first included angles, the first included angles are filtered based on the first heading angle to determine the target included angle; based on the target included angle and the second included angle, the second heading angle corresponding to the vehicle is determined.

[0091] In this embodiment of the present disclosure, although the heading angle of the vehicle provided by the navigation system may not be accurate, the general direction is still accurate. Therefore, the determined first included angle can be filtered according to the first heading angle to obtain the correct included angle, i.e. the target included angle. Then, the second heading angle corresponding to the vehicle can be determined according to the target included angle and the second included angle.

[0092] The following example illustrates the process of obtaining the second heading angle:

[0093] For example, suppose the location information of the vehicle is obtained as (lon) c ,lat c ,alt c By performing coordinate transformation, the corresponding vehicle position coordinates in the world coordinate system can be obtained as (x...). c ,y c ,z c The equation of the tangent line at the point corresponding to the x-coordinate parameter on the equation of the first curve is expressed as: The vehicle corresponds to the x-axis parameter. c The first angle α between the tangent line at a point and the y-axis in the world coordinate system can be determined by the following calculation steps:

[0094] Let the intermediate parameter be θ, where,

[0095] At this point, θ∈(-90°,90°)

[0096] When θ∈(0°,90°),

[0097]

[0098] When θ∈(-90°,0°),

[0099]

[0100] In particular, when the value of θ does not exist, α is equal to 0° or 180°.

[0101] Where ρ represents the first heading angle.

[0102] Suppose that the equation of the second curve obtained through ADAS is:

[0103] y = a0 + a1x + a2·x 2 +a3·x 3

[0104] Where a0, a1, a2, and a3 represent coefficients.

[0105] Then, the second angle β between the tangent line on the second curve equation at the origin of the vehicle's horizontal coordinate system and the preset coordinate axis in the vehicle's horizontal coordinate system is:

[0106] β = arctan(a1)

[0107] Furthermore, the difference between the first included angle and the second included angle can be used to determine the second heading angle of the vehicle, namely the second heading angle γ, and γ = α - β.

[0108] In this embodiment of the disclosure, the heading angle of the vehicle at any given time can be determined by using the first heading angle and the second heading angle at any given time for the next time step. Therefore, in some implementations, when the first heading angle and the second heading angle are the heading angles at the target time, the step of determining the target heading angle corresponding to the vehicle based on the first heading angle and the second heading angle may include the following steps:

[0109] Based on the first heading angle at the target time, the first predicted heading angle at the next time after the target time is predicted; based on the second heading angle at the target time, the second predicted heading angle at the next time after the target time is predicted; the first predicted heading angle and the second predicted heading angle are fused to obtain the target heading angle of the vehicle at the next time after the target time.

[0110] In this embodiment of the disclosure, after obtaining the first heading angle at the target time, the first heading angle at the target time can be predicted to obtain the first predicted heading angle at the next time after the target time. Similarly, after obtaining the second heading angle at the target time, the second heading angle at the target time can be predicted to obtain the second predicted heading angle at the next time after the target time. Then, the first predicted heading angle and the second predicted heading angle can be fused to obtain the target heading angle of the vehicle at the next time after the target time.

[0111] In some implementations, the step of predicting the first predicted heading angle at the next time after the target time based on the first heading angle at the target time may include the step of filtering the first heading angle at the target time to obtain the first predicted heading angle.

[0112] In some implementations, the step of predicting the second predicted heading angle at the next time after the target time based on the second heading angle at the target time may include the step of filtering the second heading angle at the target time to obtain the second predicted heading angle.

[0113] In this embodiment of the disclosure, a first predicted heading angle can be predicted by filtering the first heading angle at the target time, and a second predicted heading angle can be predicted by filtering the second heading angle at the target time.

[0114] In some implementations, the first heading angle at the target time can be processed by a first filter to obtain the first predicted heading at the next time after the target time, and the second heading angle at the target time can be processed by a second filter to obtain the second predicted heading angle at the next time after the target time.

[0115] In some implementations, a third filter can be used to fuse the first predicted heading angle and the second predicted heading angle to obtain the target heading angle of the vehicle at the next time after the target time.

[0116] In this embodiment of the disclosure, by filtering and then fusing the first heading angle and the second heading angle using a first filter, a second filter, and a third filter, the accuracy of the output heading angle can be improved.

[0117] In some implementations, the first and second filters are sub-filters in a federated Kalman filter, and the third filter is the main filter in a federated Kalman filter.

[0118] In some implementations, considering that the period of the heading angle provided by the navigation system is different from the period of the information provided by the ADAS, resulting in different periods for the first heading angle and the second heading angle, therefore, for ease of calculation, in some implementations, the method of this disclosure embodiment may further include the following steps:

[0119] Obtain the first heading angles corresponding to the first and second times respectively. The first time is a time before the target time, determined according to the acquisition period of the first heading angle, and the second time is a time after the target time, determined according to the acquisition period of the first heading angle. The first and second times are adjacent first heading angle acquisition times. Obtain the first heading angles corresponding to the third and fourth times respectively. The third time is a time before the target time, determined according to the acquisition period of the second heading angle, and the fourth time is a time after the target time, determined according to the acquisition period of the second heading angle. The third and fourth times are adjacent second heading angle acquisition times. Use linear interpolation to interpolate the first heading angles corresponding to the first and second times to obtain the first heading angle at the target time. Use linear interpolation to interpolate the second heading angles corresponding to the third and fourth times to obtain the second heading angle at the target time.

[0120] For example, suppose the navigation system at time The first heading angles are ρ1, ρ2, ..., ρ n The first heading angle period input by the navigation system is T1, and the second heading angle data calculated using ADAS data is at time T1. They are γ1, γ2, ..., γ m The heading angle data period calculated using ADAS data is T2.

[0121] Please refer to Figure 2 As shown, assume that the target time t is located between the i-th and (i+1)-th data sets input by the navigation system, i.e. In this case, the i-th data set represents the first heading angle at the first moment, and the (i+1)-th data set represents the first heading angle at the second moment. Therefore, at time t, the first heading angle data ρ transmitted by the navigation system... t for:

[0122]

[0123] Time t lies between the j-th and (j+1)-th data sets of the second heading angle calculated using ADAS data, i.e. In this case, the j-th data set represents the second heading angle corresponding to the third time step, and the (j+1)-th data set represents the second heading angle corresponding to the fourth time step. The second heading angle data γ is calculated using ADAS data. t for:

[0124]

[0125] Through the above process, time calibration and unification were achieved using interpolation, which facilitates calculation.

[0126] The following example illustrates how to use a federated Kalman filter to process the first and second heading angles at the target time to obtain the target heading angle for the vehicle at the next time after the target time:

[0127] Assume the target time is t, and assume the state space of the system in the federated Kalman filter is:

[0128]

[0129] Among them, among them, Let A be the state vector at time t in the i-th sub-filter. i Let be the state transition matrix of the i-th sub-filter from time t-1 to time t. Let H be the observation value of the i-th sub-filter at time t. i To measure the parameters of the system, For the measurement noise of the i-th sub-filter, Let ω be the process noise of the i-th system, and let v be a Gaussian distribution, i.e., ω ~ N(0, Q) and v ~ N(0, R).

[0130] Let the periods of the two sub-filters be T, and the first heading angle data of the navigation system after time calibration be: ρ1, ρ2, ..., ρ n This is recorded as the observation value of the first sub-filter. The second heading angle data calculated using ADAS data after time calibration are: γ1, γ2, ..., γ n This is recorded as the observation value of the second sub-filter.

[0131] The first step is to perform the information allocation process. The main filter allocates the state variables, error covariance matrix, and system process noise covariance matrix to each sub-filter according to the information allocation principle. The allocation process is represented as follows:

[0132]

[0133] in, This represents the error covariance of the i-th sub-filter. This represents the error covariance of the main filter. The covariance of the measurement noise of the main filter, β i Represents the information allocation coefficient, where:

[0134]

[0135]

[0136] in, Let represent the trace of the error covariance matrix. Suppose the initial value of the error covariance of the main filter is . The initial state of the main filter is The initial value of the error covariance of the first sub-filter is The initial state value is set to The initial value of the error covariance of the second sub-filter is The initial state value is set to Where varρ is the historical variance of ρ before the application of the federated Kalman filter, and vary is the historical variance of γ before the application of the federated Kalman filter.

[0137] The second step is to perform a time-update process on the information, which is represented by the following calculation formula:

[0138]

[0139] in, This represents the state estimate at time t+1 from time t.

[0140] The third step involves updating the measurement of the information, expressed as the following calculation:

[0141]

[0142] in, Let represent the Kalman gain matrix at time t. This represents the state estimate of the i sub-filters at time t+1.

[0143] The fourth part is information fusion. The local optima of the sub-filters are fused to obtain the fused global optimum. The fusion equation can be expressed as:

[0144]

[0145]

[0146] in, This represents the target heading angle of the vehicle at the next time point after the target time, i.e., the target heading angle at time t+1.

[0147] Please refer to the above process. Figure 3 ,like Figure 3 As shown, the first sub-filter in the federated Kalman filter can be used to process the first heading angle at the target time to obtain the first predicted heading angle at the next time after the target time. The second sub-filter in the federated Kalman filter is used to process the second heading angle at the target time to obtain the second predicted heading angle at the next time after the target time. Next, the first predicted heading angle and the second predicted heading angle can be fused using the main filter in the federated Kalman filter to obtain the target heading angle of the vehicle at the next time point after the target time.

[0148] Based on the same inventive concept, this disclosure also provides a vehicle heading angle determination device. Figure 4 This is a block diagram of a vehicle heading angle determining device 400 shown in this disclosure, with reference to... Figure 4 The device 400 includes:

[0149] The first acquisition module 410 is configured to acquire a first heading angle corresponding to the vehicle, wherein the first heading angle is the heading angle of the vehicle from the navigation system;

[0150] The second acquisition module 420 is configured to acquire the first curve equation and the second curve equation corresponding to the vehicle. The first curve equation is used to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system, and the second curve equation is used to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system.

[0151] The first determining module 430 is configured to determine the second heading angle corresponding to the vehicle based on the vehicle's position information, the first curve equation, and the second curve equation.

[0152] The second determining module 440 is configured to determine the target heading angle corresponding to the vehicle based on the first heading angle and the second heading angle.

[0153] Optionally, the vehicle's position information includes a horizontal coordinate parameter, and the first determining module 430 includes:

[0154] The first acquisition submodule is configured to acquire the first angle between the tangent line of the first curve equation at the point corresponding to the horizontal coordinate parameter and the preset coordinate axis in the world coordinate system;

[0155] The second acquisition submodule is configured to acquire the second angle between the tangent line on the second curve equation corresponding to the origin of the horizontal coordinate of the vehicle coordinate system and a preset coordinate axis in the vehicle coordinate system.

[0156] The first determining submodule is configured to determine the second heading angle corresponding to the vehicle based on the first included angle and the second included angle.

[0157] Optionally, the first determining submodule includes:

[0158] The first determining unit is configured to, when there are multiple first included angles, filter the first included angles based on the first heading angle to determine the target included angle;

[0159] The second determining unit is configured to determine the second heading angle corresponding to the vehicle based on the target angle and the second angle.

[0160] Optionally, the second acquisition module 420 includes:

[0161] The third acquisition submodule is configured to acquire the location parameter information of multiple location points on the road where the vehicle is located.

[0162] The first determining submodule is configured to fit the first curve equation based on the position parameter information of each of the plurality of position points.

[0163] Optionally, the first heading angle and the second heading angle are the heading angles at the target time, and the second determining module 440 includes:

[0164] The first processing submodule is configured to predict the first predicted heading angle for the next time after the target time based on the first heading angle at the target time.

[0165] The second processing submodule is configured to predict the second predicted heading angle for the next time after the target time based on the second heading angle at the target time.

[0166] The third processing submodule is configured to fuse the first predicted heading angle and the second predicted heading angle to obtain the target heading angle of the vehicle at the next time after the target time.

[0167] Optionally, the first processing submodule is further configured to filter the first heading angle at the target time to obtain the first predicted heading angle. The second processing submodule is further configured to filter the second heading angle at the target time to obtain the second predicted heading angle.

[0168] Optionally, the device 400 further includes:

[0169] The third acquisition module is configured to acquire the first heading angle corresponding to the first time and the second time respectively. The first time is a time before the target time, determined according to the acquisition period of the first heading angle. The second time is a time after the target time, determined according to the acquisition period of the first heading angle. The first time and the second time are adjacent first heading angle acquisition times.

[0170] The fourth acquisition module is configured to acquire the first heading angles corresponding to the third time and the fourth time, respectively. The third time is a time before the target time, determined according to the acquisition period of the second heading angle, and the fourth time is a time after the target time, determined according to the acquisition period of the second heading angle. The third time and the fourth time are adjacent second heading angle acquisition times.

[0171] The first interpolation module is configured to use linear interpolation to interpolate the first heading angle corresponding to the first time and the first heading angle corresponding to the second time to obtain the first heading angle at the target time.

[0172] The second interpolation module is configured to use linear interpolation to interpolate the second heading angle corresponding to the third time moment and the second heading angle corresponding to the fourth time moment to obtain the second heading angle at the target time.

[0173] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0174] Based on the same inventive concept, this disclosure also provides an electronic device, comprising:

[0175] A memory on which computer programs are stored;

[0176] A processor is configured to execute the computer program in the memory to implement the steps of any vehicle heading angle determination method provided in this disclosure.

[0177] In one possible manner, the block diagram of the electronic device can be as follows: Figure 5 As shown. (Refer to...) Figure 5 The electronic device 500 may include a processor 501 and a memory 502. The electronic device 500 may also include one or more of a multimedia component 503, an input / output (I / O) interface 504, and a communication component 505. In possible embodiments, the electronic device may be an in-vehicle controller, an in-vehicle terminal, etc.

[0178] The processor 501 controls the overall operation of the electronic device 500 to complete all or part of the steps in the vehicle heading angle determination method described above. The memory 502 stores various types of data to support the operation of the electronic device 500. This data may include, for example, instructions for any application or method operating on the electronic device 500, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 503 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 502 or transmitted via communication component 505. The audio component also includes at least one speaker for outputting audio signals. I / O interface 504 provides an interface between processor 501 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 505 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0179] In an exemplary embodiment, the electronic device 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle heading angle determination method described above.

[0180] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle heading angle determination method described above. For example, the computer-readable storage medium may be the memory 502 including the program instructions described above, which may be executed by the processor 501 of the electronic device 500 to complete the vehicle heading angle determination method described above.

[0181] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle heading angle determination method when executed by the programmable device.

[0182] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0183] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0184] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for determining the heading angle of a vehicle, characterized in that, The method includes: Obtain the first heading angle corresponding to the vehicle, wherein the first heading angle is the heading angle of the vehicle obtained from the navigation system; Obtain the first curve equation and the second curve equation corresponding to the vehicle. The first curve equation is used to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system. The second curve equation is used to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system. Based on the vehicle's position information, the first curve equation, and the second curve equation, determine the second heading angle corresponding to the vehicle; The target heading angle corresponding to the vehicle is determined based on the first heading angle and the second heading angle; The vehicle's position information includes a horizontal coordinate parameter. The step of determining the second heading angle corresponding to the vehicle based on the vehicle's position information, the first curve equation, and the second curve equation includes: Obtain the first angle between the tangent line on the first curve equation corresponding to the point at the horizontal coordinate parameter and the preset coordinate axis in the world coordinate system; Obtain the second angle between the tangent line on the second curve equation at the origin of the abscissa of the vehicle coordinate system and a preset coordinate axis in the vehicle coordinate system; The second heading angle corresponding to the vehicle is determined based on the first included angle and the second included angle.

2. The method according to claim 1, characterized in that, The step of determining the second heading angle corresponding to the vehicle based on the first included angle and the second included angle includes: When there are multiple first included angles, the first included angles are filtered based on the first heading angle to determine the target included angle; The second heading angle corresponding to the vehicle is determined based on the target angle and the second angle.

3. The method according to claim 1, characterized in that, The step of obtaining the first curve equation corresponding to the vehicle includes: Obtain the location parameter information of multiple locations on the road where the vehicle is located; The equation of the first curve is obtained by fitting the position parameter information of each of the multiple location points.

4. The method according to claim 1, characterized in that, The first heading angle and the second heading angle are the heading angles at the target time. The step of determining the target heading angle corresponding to the vehicle based on the first heading angle and the second heading angle includes: Based on the first heading angle at the target time, the first predicted heading angle at the next time after the target time is predicted; Based on the second heading angle at the target time, the second predicted heading angle for the next time after the target time is predicted; The first predicted heading angle and the second predicted heading angle are fused to obtain the target heading angle of the vehicle at the next time after the target time.

5. The method according to claim 4, characterized in that, The step of predicting the first predicted heading angle for the next time after the target time based on the first heading angle at the target time includes: The first heading angle at the target time is filtered to obtain the first predicted heading angle; The step of predicting the second predicted heading angle for the next time after the target time based on the second heading angle at the target time includes: The second heading angle at the target time is filtered to obtain the second predicted heading angle.

6. The method according to claim 4 or 5, characterized in that, The method further includes: The first heading angles corresponding to the first time point and the second time point are obtained respectively. The first time point is a time point before the target time point, determined according to the acquisition period of the first heading angle. The second time point is a time point after the target time point, determined according to the acquisition period of the first heading angle. The first time point and the second time point are adjacent first heading angle acquisition times. The first heading angles corresponding to the third and fourth times are obtained respectively. The third time is a time before the target time, determined according to the acquisition period of the second heading angle. The fourth time is a time after the target time, determined according to the acquisition period of the second heading angle. The third time and the fourth time are adjacent second heading angle acquisition times. The first heading angle at the first time point and the first heading angle at the second time point are interpolated using linear interpolation to obtain the first heading angle at the target time. The second heading angle at the third time point and the second heading angle at the fourth time point are interpolated using linear interpolation to obtain the second heading angle at the target time.

7. A vehicle heading angle determination device, characterized in that, The device includes: The first acquisition module is configured to acquire the first heading angle corresponding to the vehicle, wherein the first heading angle is the heading angle of the vehicle obtained from the navigation system; The second acquisition module is configured to acquire the first curve equation and the second curve equation corresponding to the vehicle. The first curve equation is used to determine the coordinates of different points on the road where the vehicle is located in the world coordinate system, and the second curve equation is used to determine the coordinates of different points on the lane line where the vehicle is located in the vehicle's own coordinate system. The first determining module is configured to determine the second heading angle corresponding to the vehicle based on the vehicle's position information, the first curve equation, and the second curve equation. The second determining module is configured to determine the target heading angle corresponding to the vehicle based on the first heading angle and the second heading angle; The vehicle's location information includes a horizontal coordinate parameter, and the first determining module includes: The first acquisition submodule is configured to acquire the first angle between the tangent line of the first curve equation at the point corresponding to the horizontal coordinate parameter and the preset coordinate axis in the world coordinate system; The second acquisition submodule is configured to acquire the second angle between the tangent line on the second curve equation corresponding to the origin of the horizontal coordinate of the vehicle coordinate system and a preset coordinate axis in the vehicle coordinate system. The first determining submodule is configured to determine the second heading angle corresponding to the vehicle based on the first included angle and the second included angle.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1 to 6.

9. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1 to 6.

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