Vehicle location information determination method, electronic device, device and storage medium

Abstract

The present disclosure provides a method for determining vehicle position information, an electronic device, a device and a storage medium. The method for determining vehicle position information of the present disclosure includes: obtaining the motion curvature and motion speed of the vehicle; obtaining the first coordinate, the second coordinate and the heading angle of the vehicle based on the motion curvature and motion speed of the vehicle; and determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and more particularly to a method for determining vehicle position information, an electronic device, a device, and a storage medium. Background Art

[0002] A stable and accurate vehicle motion model is the basis for studying the laws of vehicle motion. With the rapid development of autonomous driving technology, the status of vehicle motion models has gradually increased. The rapid adaptation of vehicle control algorithms to different vehicles is the current market demand, but the actual vehicle debugging cycle is long and there are many unstable factors. Therefore, a vehicle motion model that can accurately reflect the actual vehicle motion state is the key to achieving rapid algorithm adaptation.

[0003] In the prior art, there are two main types of vehicle motion models. The first is a complex model that considers the motion state of each component of the vehicle, such as building a tire model and then integrating the models of other components into a vehicle model; the second is to build a simple model of the vehicle motion state, such as a single track model, and then fuse sensor information to estimate the vehicle's motion state.

[0004] The implementation of the first vehicle model is difficult. For example, the nonlinear model of tires requires testing a large amount of tire response data, which can only be obtained through professional experiments. The second vehicle model relies on sensor information and is mainly used for vehicle state estimation of real vehicles. It is impossible to estimate the vehicle's motion state offline. Summary of the invention

[0005] The present disclosure provides a method for determining vehicle position information, an electronic device, a device and a storage medium.

[0006] A first aspect of the present disclosure provides a method for determining vehicle position information, comprising:

[0007] Obtain the motion curvature and motion speed of the vehicle;

[0008] Obtaining a first coordinate, a second coordinate, and a heading angle of the vehicle based on the motion curvature and the motion speed of the vehicle;

[0009] The position information of the vehicle is determined based on the first coordinate, the second coordinate, and the heading angle of the vehicle.

[0010] According to a preferred embodiment of the present disclosure, obtaining the motion curvature and motion speed of the vehicle includes:

[0011] Obtaining the motion curvature and the motion speed of the vehicle at the first moment;

[0012] Obtaining a first coordinate, a second coordinate, and a heading angle of the vehicle at a second moment based on a motion curvature of the vehicle at a first moment and a motion speed of the vehicle at a first moment;

[0013] The second moment is a moment after the first moment.

[0014] According to a preferred embodiment of the present disclosure, determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle includes determining the position information of the vehicle by the following formula:

[0015]

[0016] Where ΔT represents the calculation period, k represents the kth moment, k+1 represents the k+1th moment, x represents the first coordinate, y represents the second coordinate, θ represents the heading angle, and r k represents the curvature of motion at time k, v k represents the speed of movement at time k.

[0017] According to a preferred embodiment of the present disclosure, obtaining the motion curvature of the vehicle further includes:

[0018] Obtain motion curvature coefficient and vehicle steering wheel angle;

[0019] The motion curvature of the vehicle is obtained based on the motion curvature coefficient of the vehicle and the steering wheel angle of the vehicle.

[0020] According to a preferred embodiment of the present disclosure, obtaining the motion curvature of the vehicle based on the motion curvature coefficient of the vehicle and the steering wheel angle of the vehicle includes:

[0021] Acquire at least one set of motion curvature expressions, and obtain the motion curvature of the vehicle based on the motion curvature expressions;

[0022] Wherein, a set of motion curvature expressions at least includes a steering wheel angle of the vehicle at a first moment and a steering wheel angle of the vehicle at a third moment, a motion speed of the vehicle at the first moment and a motion speed of the vehicle at the third moment;

[0023] The third moment is the moment before the first moment.

[0024] According to a preferred embodiment of the present disclosure, a set of motion curvature expressions are shown as follows:

[0025] r k =c1r k-1 +c2r k-2 +c3w k +c4w k-1 +c5w k-2 +c6v k +c7vk-1 +c8v k-2 +c9v k w k +c 10 v k-1 w k-1 +c 11 v k- 2w k-2

[0026] Among them, r k represents the curvature of the vehicle at time k, r represents the curvature of the vehicle, v represents the speed of the vehicle, w represents the steering wheel angle of the vehicle, c1, c2…c 11 represents the motion curvature coefficient, the subscript k+1 represents the k+1 moment, and the subscript k-1 represents the k-1 moment.

[0027] According to a preferred embodiment of the present disclosure, obtaining the motion curvature coefficient includes:

[0028] Obtain the vehicle's speed, steering wheel angle data set and motion curvature data set;

[0029] The motion curvature coefficient is obtained based on a speed data set, a steering wheel angle data set and a motion curvature data set of the vehicle.

[0030] According to a preferred embodiment of the present disclosure, the motion curvature coefficient is obtained based on the speed and steering wheel angle data set and the motion curvature data set of the vehicle, including obtaining the motion curvature coefficient by the following formula:

[0031] AC=R

[0032] C=(A T A) -1 A T R

[0033] Wherein, C represents the motion curvature coefficient vector group, A represents the vehicle speed and steering wheel angle data set, R represents the motion curvature data set, and the superscript T represents the transpose of the vehicle speed and steering wheel angle data set matrix.

[0034] According to a preferred embodiment of the present disclosure, the vehicle position information determination method of the present disclosure further includes:

[0035] Acquire first location information and second location information within a preset period;

[0036] comparing the first position information and the second position information to obtain a comparison deviation;

[0037] When the comparison deviation is greater than a calibration threshold, the position information of the vehicle is updated.

[0038] According to a preferred implementation manner of the present disclosure, comparing the first position information and the second position information to obtain a comparison deviation includes:

[0039] The first position information and the second position information are compared to obtain a position deviation and an angle deviation of the vehicle, and the position deviation and the angle deviation are used as the comparison deviation.

[0040] According to a preferred embodiment of the present disclosure, the position deviation and the angle deviation are obtained by the following formula:

[0041]

[0042] The angle deviation is obtained by the following formula:

[0043]

[0044] Among them, E d represents the position deviation, i represents the i-th coordinate in k consecutive cycles; represents the first coordinate in the first position information, represents the first coordinate in the second position information, represents the second coordinate in the first position information, represents the second coordinate in the second position information, E θ Indicates the angle deviation, represents the heading angle in the first position information, Indicates the heading angle in the second position information.

[0045] Another aspect of the present disclosure provides a vehicle position information determination device, comprising:

[0046] A motion curvature and motion speed acquisition module, which acquires the motion curvature and motion speed of the vehicle;

[0047] A coordinate acquisition module, which obtains a first coordinate, a second coordinate and a heading angle of the vehicle based on the motion curvature and the motion speed of the vehicle;

[0048] A position information determination module is used to determine the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle.

[0049] According to another aspect of the present disclosure, an electronic device includes:

[0050] A memory storing execution instructions;

[0051] A processor executes the execution instructions stored in the memory, so that the processor executes any one of the above-mentioned vehicle position information determination methods.

[0052] In another aspect of the present disclosure, a readable storage medium is provided, wherein execution instructions are stored in the readable storage medium, and when the execution instructions are executed by a processor, the execution instructions are used to implement any of the above-mentioned methods for determining vehicle position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0054] Figure 1 The figure is a flow chart of the method for determining vehicle position information disclosed in the present invention.

[0055] Figure 2 Schematic diagram of the process of step S110 in the method for determining vehicle position information of the present invention.

[0056] Figure 3 It is a schematic block diagram of the structure of a vehicle position information determination device using a hardware implementation of a processor according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0058] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0059] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged without departing from the technical concept of the present disclosure.

[0060] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.

[0061] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0062] The terms used herein are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used herein, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0063] Combined with the following Figures 1 to 3 The vehicle position information determination method, vehicle position information determination device, etc. of the present disclosure are described in detail.

[0064] The present disclosure provides a method M100 for determining vehicle position information, including:

[0065] Step S110: Obtain the motion curvature and motion speed of the vehicle.

[0066] Step S120: obtaining a first coordinate, a second coordinate, and a heading angle of the vehicle based on the motion curvature and the motion speed of the vehicle.

[0067] Step S130: determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle.

[0068] The method for determining the vehicle position information provided by the embodiments of the present disclosure improves the efficiency of determining the vehicle position information because the curvature of the vehicle's motion is obtained through the steering wheel angle and the speed of motion of the vehicle, and does not require the conversion relationship between the front wheel angle and the steering wheel angle; the data of the vehicle's motion speed in the present disclosure uses the historical motion speed data of the vehicle, taking into account the historical state of the vehicle, that is, taking into account the motion state of the vehicle at past moments, thereby improving the stability of determining the vehicle's position information; the first coordinate, the second coordinate and the heading angle of the vehicle are obtained based on the curvature of the motion and the speed of motion of the vehicle, and the specific position information of the vehicle can be determined. The motion curvature and motion speed data required by the embodiments of the present disclosure are easy to obtain, have the characteristics of simple operation, and are highly feasible; the present disclosure can obtain the vehicle position information offline, which is conducive to developers to quickly adapt the autonomous driving algorithm.

[0069] In step S110 of the vehicle position information determination method provided in the embodiment of the present disclosure, the motion curvature and motion speed of the vehicle are obtained, wherein the motion curvature is obtained based on the steering wheel angle and motion speed of the vehicle. The motion speed of the vehicle in the present disclosure can be obtained by obtaining the historical motion speed data of the vehicle. The data of the steering wheel angle can be obtained by a steering wheel angle sensor.

[0070] In step S120 of the vehicle position information determination method provided in the embodiment of the present disclosure, the first coordinate, the second coordinate and the heading angle of the vehicle are obtained based on the motion curvature and the motion speed of the vehicle.

[0071] Exemplarily, the first coordinate can be regarded as the horizontal coordinate (X coordinate), and the second coordinate can be regarded as the vertical coordinate (Y coordinate). The heading angle provided in the present disclosure is the vehicle heading angle, which generally refers to the angle between the vehicle's center of mass speed and the horizontal axis in the ground coordinate system.

[0072] Step S130: determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle.

[0073] Once the horizontal coordinate, vertical coordinate and heading angle are determined, the vehicle's position information can be determined.

[0074] According to a preferred embodiment of the present disclosure, see Figure 2 , step S110 includes: step S111 and step S112.

[0075] Step S111, obtaining the motion curvature and the motion speed of the vehicle at the first moment.

[0076] Step S112: obtaining a first coordinate, a second coordinate, and a heading angle of the vehicle at a second moment based on the motion curvature and the motion speed of the vehicle at the first moment.

[0077] The second moment is the moment after the first moment.

[0078] According to a preferred embodiment of the present disclosure, determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle includes determining the position information of the vehicle by the following formula:

[0079]

[0080] Where ΔT represents the calculation period, k represents the kth moment, k+1 represents the k+1th moment, x represents the first coordinate, y represents the second coordinate, θ represents the heading angle, and r k represents the curvature of motion at time k, v k represents the speed of movement at time k.

[0081] According to a preferred embodiment of the present disclosure, obtaining the motion curvature of the vehicle includes:

[0082] Get the vehicle's motion curvature coefficient and the vehicle's steering wheel angle.

[0083] The motion curvature of the vehicle is obtained based on the motion curvature coefficient of the vehicle and the steering wheel angle of the vehicle.

[0084] According to a preferred embodiment of the present disclosure, the motion curvature of the vehicle is obtained based on the motion curvature coefficient of the vehicle and the steering wheel angle of the vehicle, including:

[0085] At least one set of motion curvature expressions is obtained, and the motion curvature of the vehicle is obtained based on the motion curvature expressions.

[0086] Among them, a set of motion curvature expressions at least includes the steering wheel angle of the vehicle at the first moment and the steering wheel angle of the vehicle at the third moment, the movement speed of the vehicle at the first moment and the movement speed of the vehicle at the third moment.

[0087] The third moment is the moment before the first moment.

[0088] According to a preferred embodiment of the present disclosure, a set of motion curvature expressions are shown as follows:

[0089] r k =c1r k-1 +c2r k-2 +c3w k +c4w k-1+c5w k-2 +c6v k +c7v k-1 +c8v k-2 +c9v k w k +c 10 v k-1 w k-1 +c 11 v k- 2w k-2

[0090] Among them, r k represents the curvature of the vehicle at time k, r represents the curvature of the vehicle, v represents the speed of the vehicle, w represents the steering wheel angle of the vehicle, c1, c2…c 11 represents the motion curvature coefficient, the subscript k+1 represents the second moment of the first moment k, i.e., the k+1 moment, and the subscript k-1 represents the third moment of the first moment k, i.e., the k-1 moment. It should be noted that the subscript of the motion curvature coefficient represents the number of the motion curvature coefficient. The subscript of the motion curvature coefficient can be identified as needed, and the embodiments of the present disclosure are not limited to this.

[0091] According to a preferred embodiment of the present disclosure, another set of motion curvature expressions is shown as follows:

[0092] r k =c1r k-1 +c2r k-2 +c 21 r k-3 +…+c 22 r k-n +c3w k +c4w k-1 +c5w k-2 +c 51 w k-3 +…+c 52 w k-n +c6v k +c7v k-1 +c8v k-2 +c 81 v k-3 +…+c 82 v k-n +c9v k w k +c 10 v k-1 w k-1 +c 11 v k-2 w k-2 +c 111 v k-3 w k-3 …+c112 v k-n w k-n

[0093] Among them, the subscript k-1 represents the second moment of the first moment k, that is, the moment before the first moment k, the subscript k-2 represents the two moments before the first moment k, that is, the moment before k-1, the subscript k-3 represents the three moments before the first moment k, that is, the moment before k-2, and the subscript kn represents the n moments before the first moment k, that is, the n moments before moment k.

[0094] According to a preferred embodiment of the present disclosure, obtaining the motion curvature coefficient includes:

[0095] Obtain the vehicle's speed dataset, steering wheel angle dataset, and motion curvature dataset.

[0096] The motion curvature coefficient is obtained based on the vehicle speed data set, the steering wheel angle data set and the motion curvature data set.

[0097] The disclosed embodiment acquires vehicle speed, steering wheel angle data, and motion curvature data by collecting vehicle data, including vehicle motion speed data, steering wheel angle data, and motion curvature data. The disclosed embodiment acquires n sample data in total, i.e., n vehicle motion speed data, steering wheel angle data, and motion curvature data.

[0098] Here A is the following set, namely the vehicle speed and steering wheel angle data set A.

[0099]

[0100] C=[c1 c2 c3 c4 c5 c6 c7 c8 c9 c 10 c 11 ……c n ] T

[0101]

[0102] According to a preferred embodiment of the present disclosure, the motion curvature coefficient is obtained based on the vehicle speed and steering wheel angle data set and the motion curvature data set, including obtaining the motion curvature coefficient by the following formula:

[0103] AC=R

[0104] C=(A T A) -1 A T R

[0105] The motion curvature coefficients c1 to c are determined by determining the motion curvature coefficient vector groupn The value of .

[0106] Wherein, C represents the motion curvature coefficient, A represents the vehicle speed and steering wheel angle data set, R represents the motion curvature data set, and the superscript T represents the transpose of the vehicle speed and steering wheel angle data set matrix.

[0107] According to a preferred embodiment of the present disclosure, the vehicle position information determination method of the present disclosure further includes:

[0108] The first position information and the second position information within a preset period are obtained.

[0109] The first position information and the second position information are compared to obtain a comparison deviation.

[0110] When the comparison deviation is greater than the calibration threshold, the vehicle's position information is updated.

[0111] When the status of vehicle components changes, such as steering mechanism wear, tire pressure changes, etc., the accuracy of the vehicle motion model will decrease. In this case, it is necessary to re-acquire the vehicle's motion curvature and speed, and then re-determine the vehicle's position information. Furthermore, sensors with positioning functions, such as GPS (Global Positioning System), IMU (Inertial Measurement Unit), etc., can be used to re-acquire the vehicle's motion curvature and speed.

[0112] It should be noted that when the vehicle is equipped with a sensor, such as an IMU, the vehicle position information collected by the IMU can be used to correct the vehicle position information obtained by the method provided in the embodiment of the present disclosure.

[0113] According to a preferred embodiment of the present disclosure, comparing the first position information and the second position information to obtain a comparison deviation includes:

[0114] The first position information and the second position information are compared to obtain a position deviation and an angle deviation of the vehicle, and the position deviation and the angle deviation are used as comparison deviations.

[0115] The vehicle position information measured by the sensor is recorded as (x m ,y m ,θ m ), the vehicle position information obtained by the method provided by the present disclosure is recorded as (x e ,y e ,θ e). In k consecutive cycles, if the deviation between the vehicle position information measured by the sensor and the vehicle position information obtained by the method provided by the present disclosure is greater than the calibration threshold, it is necessary to re-acquire the vehicle's motion curvature and motion speed to obtain the vehicle's position information.

[0116] According to a preferred embodiment of the present disclosure, the position deviation and the angle deviation are obtained by the following formula:

[0117]

[0118] The angle deviation is obtained by the following formula:

[0119]

[0120] Among them, E d represents the position deviation, i represents the i-th coordinate in k consecutive cycles; represents the first coordinate in the first position information, represents the first coordinate in the second position information, represents the second coordinate in the first position information, represents the second coordinate in the second position information, E θ Indicates the angle deviation, represents the heading angle in the first position information, Indicates the heading angle in the second position information.

[0121] Among them, in the embodiment of the present disclosure, the first position information refers to the position information of the vehicle determined by the vehicle position information determination method of the present disclosure, and the second position information refers to the position information of the vehicle obtained by using the sensor set on the vehicle.

[0122] Figure 3 It is a schematic block diagram of the structure of a vehicle position information determination device 1000 using a hardware implementation of a processor according to an embodiment of the present disclosure.

[0123] The vehicle position information determination device may include corresponding modules for executing each or several steps in the above flowchart. Therefore, each step or several steps in the above flowchart may be executed by the corresponding module, and the device may include one or more modules of these modules. The module may be one or more hardware modules specially configured to execute the corresponding steps, or implemented by a processor configured to execute the corresponding steps, or stored in a computer-readable medium for implementation by a processor, or implemented by some combination.

[0124] The hardware structure of the vehicle position information determination device 1000 of the present disclosure can be implemented using a bus architecture. The bus architecture can include any number of interconnected buses and bridges, depending on the specific application and overall design constraints of the hardware. The bus 1100 connects various circuits including one or more processors 1200, memory 1300 and / or hardware modules together. The bus 1100 can also connect various other circuits 1400 such as peripherals, voltage regulators, power management circuits, external antennas, etc.

[0125] The bus 1100 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the figure only uses one connecting line, but does not mean that there is only one bus or one type of bus.

[0126] Any process or method description in the flowchart or otherwise described herein can be understood as a module, fragment or portion of a code representing one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes other implementations, in which the functions may not be performed in the order shown or discussed, including performing the functions in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by a person skilled in the art of the present disclosure. The processor performs the various methods and processes described above. For example, the method implementation in the present disclosure can be implemented as a software program, which is tangibly contained in a machine-readable medium, such as a memory. In some embodiments, part or all of the software program can be loaded and / or installed via a memory and / or a communication interface. When the software program is loaded into the memory and executed by the processor, one or more steps in the method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform one of the above methods in any other appropriate manner (e.g., by means of firmware).

[0127] The logic and / or steps represented in the flowchart or otherwise described herein may be embodied in any readable storage medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions on an instruction execution system, apparatus, or device), or in combination with such instruction execution systems, apparatuses, or devices.

[0128] For the purposes of this specification, a "readable storage medium" may be any device that can contain, store, communicate, propagate or transmit a program for use with or in conjunction with an instruction execution system, device or apparatus. More specific examples of readable storage media (a non-exhaustive list) include the following: an electrical connection with one or more wirings (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), a fiber optic device, and a portable read-only memory (CDROM). In addition, the readable storage medium may even be paper or other suitable medium 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, deciphering or, if necessary, processing in another suitable manner, and then stored in a memory.

[0129] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0130] A person skilled in the art may understand that all or part of the steps of implementing the above-mentioned implementation method may be completed by instructing related hardware through a program, and the program may be stored in a readable storage medium, which, when executed, includes one or a combination of the steps of the implementation method.

[0131] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a readable storage medium. The storage medium may be a read-only memory, a disk or an optical disk, etc.

[0132] refer to Figure 3 According to one embodiment of the present disclosure, the vehicle position information determining device 1000 of the present disclosure includes:

[0133] The motion curvature and motion speed acquisition module 1002 acquires the motion curvature and motion speed of the vehicle.

[0134] The coordinate acquisition module 1004 obtains the first coordinate, the second coordinate and the heading angle of the vehicle based on the motion curvature and the motion speed of the vehicle.

[0135] The position information determining module 1006 determines the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle.

[0136] According to a preferred implementation of the present disclosure, the motion curvature and motion speed acquisition module 1002 acquires the motion curvature and motion speed of the vehicle at a first moment.

[0137] The first coordinate, the second coordinate and the heading angle of the vehicle at the second moment are obtained based on the motion curvature of the vehicle at the first moment and the motion speed of the vehicle at the first moment.

[0138] The second moment is the moment after the first moment.

[0139] According to a preferred embodiment of the present disclosure, determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle includes determining the position information of the vehicle by the following formula:

[0140]

[0141] Where ΔT represents the calculation period, k represents the kth moment, k+1 represents the k+1th moment, x represents the first coordinate, y represents the second coordinate, θ represents the heading angle, and r k represents the curvature of motion at time k, v k represents the speed of movement at time k.

[0142] According to a preferred embodiment of the present disclosure, the motion curvature and motion speed acquisition module 1002

[0143] Get the motion curvature coefficient and the vehicle's steering wheel angle.

[0144] The motion curvature of the vehicle is obtained based on the motion curvature coefficient of the vehicle and the steering wheel angle of the vehicle.

[0145] According to a preferred implementation of the present disclosure, the motion curvature and motion speed acquisition module 1002 acquires at least one set of motion curvature expressions, and obtains the motion curvature of the vehicle based on the motion curvature expressions.

[0146] Among them, a set of motion curvature expressions at least includes the steering wheel angle of the vehicle at the first moment and the steering wheel angle of the vehicle at the third moment, the movement speed of the vehicle at the first moment and the movement speed of the vehicle at the third moment.

[0147] The third moment is the moment before the first moment.

[0148] According to a preferred embodiment of the present disclosure, a set of motion curvature expressions are shown as follows:

[0149] r k =c1r k-1 +c2r k-2 +c3w k +c4w k-1 +c5w k-2 +c6v k +c7v k-1 +c8v k-1 +c9v k w k +c 10 v k-1 w k-1 +c 11 v k- 2w k-2

[0150] Among them, r k represents the curvature of the vehicle at time k, r represents the curvature of the vehicle, v represents the speed of the vehicle, w represents the steering wheel angle of the vehicle, c1, c2…c 11 represents the motion curvature coefficient, the subscript k+1 represents the k+1 moment, and the subscript k-1 represents the k-1 moment.

[0151] According to a preferred implementation of the present disclosure, the motion curvature and motion speed acquisition module 1002 acquires the speed of the vehicle, a steering wheel angle data set, and a motion curvature data set.

[0152] The motion curvature coefficient is obtained based on the vehicle speed data set, the steering wheel angle data set and the motion curvature data set.

[0153] According to a preferred embodiment of the present disclosure, the motion curvature coefficient is obtained based on the vehicle speed and steering wheel angle data set and the motion curvature data set, including obtaining the motion curvature coefficient by the following formula:

[0154] AC=R

[0155] C=(A T A) -1 A T R

[0156] Wherein, C represents the motion curvature coefficient vector group, A represents the vehicle speed and steering wheel angle data set, R represents the motion curvature data set, and the superscript T represents the transpose of the vehicle speed and steering wheel angle data set matrix.

[0157] The present disclosure also provides an electronic device, including: a memory, the memory storing execution instructions; and a processor or other hardware module, the processor or other hardware module executes the execution instructions stored in the memory, so that the processor or other hardware module executes any of the above-mentioned vehicle location information determination methods.

[0158] The present disclosure also provides a readable storage medium, in which execution instructions are stored. When the execution instructions are executed by a processor, they are used to implement any of the above-mentioned methods for determining vehicle position information.

[0159] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A method for determining vehicle position information, characterized in that: include: Obtain the motion curvature and motion speed of the vehicle; Obtaining a first coordinate, a second coordinate, and a heading angle of the vehicle based on the motion curvature and the motion speed of the vehicle; as well as Determine the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle; The determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle comprises determining the position information of the vehicle by the following formula: Where ΔT represents the calculation period, k represents the kth moment, k+1 represents the k+1th moment, x represents the first coordinate, y represents the second coordinate, θ represents the heading angle, and r k represents the curvature of motion at time k, v k represents the speed of movement at time k; The obtaining of the motion curvature of the vehicle comprises: obtaining a motion curvature coefficient and a steering wheel angle of the vehicle, and obtaining the motion curvature of the vehicle based on the motion curvature coefficient and the steering wheel angle of the vehicle; The obtaining the motion curvature of the vehicle based on the motion curvature coefficient of the vehicle and the steering wheel angle of the vehicle comprises: Acquire at least one set of motion curvature expressions, and obtain the motion curvature of the vehicle based on the motion curvature expressions, wherein the set of motion curvature expressions at least includes a steering wheel angle of the vehicle at a first moment and a steering wheel angle of the vehicle at a third moment, a motion speed of the vehicle at the first moment and a motion speed of the vehicle at a third moment, and the third moment is a moment before the first moment; The obtaining of the motion curvature coefficient comprises: obtaining a speed data set, a steering wheel angle data set and a motion curvature data set of the vehicle, and obtaining the motion curvature coefficient based on the speed data set, the steering wheel angle data set and the motion curvature data set of the vehicle; Among them, a set of motion curvature expressions are shown as follows: r k =c1r k-1 +c2r k-2 +c3w k +c4w k-1 +c5w k-2 +c6v k +c7v k-1 +c8v k-2 +c9v k w k +c 10 v k-1 w k-1 +c 11 v k-2 w k-2 Among them, r k represents the curvature of the vehicle at time k, r represents the curvature of the vehicle, v represents the speed of the vehicle, w represents the steering wheel angle of the vehicle, c1, c2…c 11 represents the motion curvature coefficient, the subscript k+1 represents the k+1 moment, and the subscript k-1 represents the k-1 moment.

2. The method for determining vehicle position information according to claim 1, characterized in that: Get the curvature and speed of the vehicle, including: Obtaining the motion curvature and the motion speed of the vehicle at the first moment; and Obtaining a first coordinate, a second coordinate, and a heading angle of the vehicle at a second moment based on a motion curvature of the vehicle at a first moment and a motion speed of the vehicle at a first moment; The second moment is a moment after the first moment.

3. The method for determining vehicle position information according to claim 1, characterized in that: Also includes: Acquire first location information and second location information within a preset period; comparing the first position information and the second position information to obtain a comparison deviation; as well as When the comparison deviation is greater than a calibration threshold, the position information of the vehicle is updated.

4. The method for determining vehicle position information according to claim 3, characterized in that: Comparing the first position information and the second position information to obtain a comparison deviation includes: The first position information and the second position information are compared to obtain a position deviation and an angle deviation of the vehicle, and the position deviation and the angle deviation are used as the comparison deviation.

5. A vehicle position information determination device, characterized in that: include: A motion curvature and motion speed acquisition module, which acquires the motion curvature and motion speed of the vehicle; A coordinate acquisition module, which obtains a first coordinate, a second coordinate and a heading angle of the vehicle based on the motion curvature and the motion speed of the vehicle; as well as A position information determination module, which determines the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle; The determining the position information of the vehicle based on the first coordinate, the second coordinate and the heading angle of the vehicle comprises determining the position information of the vehicle by the following formula: Where ΔT represents the calculation period, k represents the kth moment, k+1 represents the k+1th moment, x represents the first coordinate, y represents the second coordinate, θ represents the heading angle, and r k represents the curvature of motion at time k, v k represents the speed of movement at time k; The obtaining of the motion curvature of the vehicle comprises: obtaining a motion curvature coefficient and a steering wheel angle of the vehicle, and obtaining the motion curvature of the vehicle based on the motion curvature coefficient and the steering wheel angle of the vehicle; The obtaining the motion curvature of the vehicle based on the motion curvature coefficient of the vehicle and the steering wheel angle of the vehicle comprises: Acquire at least one set of motion curvature expressions, and obtain the motion curvature of the vehicle based on the motion curvature expressions, wherein the set of motion curvature expressions at least includes a steering wheel angle of the vehicle at a first moment and a steering wheel angle of the vehicle at a third moment, a motion speed of the vehicle at the first moment and a motion speed of the vehicle at a third moment, and the third moment is a moment before the first moment; The obtaining of the motion curvature coefficient comprises: obtaining a speed data set, a steering wheel angle data set and a motion curvature data set of the vehicle, and obtaining the motion curvature coefficient based on the speed data set, the steering wheel angle data set and the motion curvature data set of the vehicle; Among them, a set of motion curvature expressions are shown as follows: r k =c1r k-1 +c2r k-2 +c3w k +c4w k-1 +c5w k-2 +c6v k +c7v k-1 +c8v k-2 +c9v k w k +c 10 v k-1 w k-1 +c 11 v k-2 w k-2 Among them, r k represents the curvature of the vehicle at time k, r represents the curvature of the vehicle, v represents the speed of the vehicle, w represents the steering wheel angle of the vehicle, c1, c2...c 11 represents the motion curvature coefficient, the subscript k+1 represents the k+1 moment, and the subscript k-1 represents the k-1 moment.

6. An electronic device, characterized in that: include: A memory storing execution instructions; as well as A processor, wherein the processor executes the execution instruction stored in the memory so that the processor executes the vehicle position information determination method according to any one of claims 1 to 4.

7. A readable storage medium, characterized in that: The readable storage medium stores execution instructions, which are used to implement the vehicle position information determination method according to any one of claims 1 to 4 when executed by the processor.

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