A vehicle navigation method, apparatus, device, medium and product

Abstract

The present disclosure provides a vehicle navigation method, device, equipment, medium and product. The method comprises: when a target vehicle is detected to be located in a target lane, discrete contour information of the target vehicle is acquired; in a case where a posture of a preset contour is kept constant, an approximation result of the preset contour is determined based on the discrete contour information of the target vehicle and initial position information of the preset contour; a contour detection result of the target vehicle is determined based on the approximation result of the preset contour and the discrete contour information of the target vehicle; and the target vehicle is navigated based on the contour detection result of the target vehicle. The method can be applied to effective navigation of vehicles of different sizes, and has high navigation efficiency and low guidance cost.

Description

Technical Field

[0001] This disclosure relates to the field of computer technology, and in particular to a vehicle navigation method, apparatus, device, medium, and product. Background Technology

[0002] When a vehicle is heading to its destination, it can be guided manually. However, manual vehicle guidance is not only inefficient, leading to increased costs and wasted human resources, but it is also susceptible to human factors, requiring the vehicle to repeatedly adjust its direction during the journey.

[0003] In related technologies, ground markings can be used to guide vehicles, but ground markings require regular maintenance and repair, and the driver's blind spot is relatively large. Ground markings cannot effectively guide the driver's direction, and are even more difficult to adapt to vehicles of different sizes. Summary of the Invention

[0004] According to one aspect of this disclosure, a vehicle navigation method is provided, comprising:

[0005] When a target vehicle is detected to be in the target lane, the discrete contour information of the target vehicle is obtained;

[0006] Based on the discrete contour information of the target vehicle and the initial position information of the preset contour, the approximation result of the preset contour is determined.

[0007] Based on the preset contour information and the discrete contour information of the target vehicle, the contour detection result of the target vehicle is determined.

[0008] Navigation is performed on the target vehicle based on the contour detection results.

[0009] According to another aspect of this disclosure, a vehicle navigation device is provided, comprising:

[0010] The acquisition module is used to acquire discrete contour information of the target vehicle when the target vehicle is detected to be in the target lane;

[0011] The detection module is used to determine the approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour, and to determine the contour detection result of the target vehicle based on the preset contour information of the target vehicle and the discrete contour information of the target vehicle.

[0012] The guidance module is used to navigate the target vehicle based on the contour detection results of the target vehicle.

[0013] According to another aspect of this disclosure, an electronic device is provided, characterized in that it comprises:

[0014] Processor; and,

[0015] Stored program memory,

[0016] The program includes instructions that, when executed by the processor, cause the processor to perform the method according to an exemplary embodiment of the present disclosure.

[0017] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided, the non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method according to exemplary embodiments of this disclosure.

[0018] According to another aspect of this disclosure, a computer program product is provided, including a computer program, wherein the computer program, when executed by a processor, implements the method described in the exemplary embodiments of this disclosure.

[0019] One or more technical solutions provided in the exemplary embodiments of this disclosure, when detecting that a target vehicle is located in a target lane, can determine an approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour while maintaining the constant attitude of the preset contour. Then, using the approximation result of the preset contour as a reference, combined with the discrete contour information of the target vehicle, the contour detection result of the target vehicle is determined. Based on this, navigation of the target vehicle can be performed based on the contour detection result of the target vehicle and the vehicle's permissible yaw information. It is evident that the method of the exemplary embodiments of this disclosure can continuously navigate the target vehicle without manual guidance, thereby improving vehicle guidance efficiency and reducing increased usage costs and waste of human resources. Moreover, this method has no blind spots and does not require the location, maintenance, or repair of ground markings.

[0020] Furthermore, the approximation result of the preset contour in the exemplary embodiments of this disclosure can essentially be viewed as a process of finding a preset contour that approximates the discrete contour by taking the initial position of the preset contour as the starting point while keeping the attitude of the preset contour constant. Therefore, the approximation result of the preset contour is relatively accurate. Using this as a reference, combined with the discrete contour information of the target vehicle, the contour detection result of the target vehicle can be determined relatively accurately. It is evident that the exemplary embodiments of this disclosure can effectively navigate the target vehicle based on the contour detection result of the target vehicle and the vehicle's permissible yaw information.

[0021] Furthermore, when the exemplary embodiments of this disclosure obtain the approximation result of a preset contour through the principle of contour approximation, even if the discrete contour dimensions of the target vehicle are different, the preset contour can be used as the starting point to find a preset contour that approximates the discrete contour of target vehicles of different sizes through the approximation principle. Based on this, the contour detection result of the target vehicle can be determined using the approximation result of the preset contour and the discrete contour information of the target vehicle of the corresponding size, and the target vehicle's contour detection result and vehicle allowable yaw information can be used to navigate the target vehicle of that size. Therefore, the method of the exemplary embodiments of this disclosure is highly practical and can navigate target vehicles of different sizes. Attached Figure Description

[0022] Further details, features, and advantages of this disclosure are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A schematic diagram of an example system in which the various methods described herein may be implemented according to exemplary embodiments of the present disclosure;

[0024] Figure 2 A schematic flowchart of a vehicle navigation method according to an exemplary embodiment of the present disclosure is shown;

[0025] Figure 3A A schematic diagram of the display interface of the target vehicle under normal positioning conditions, as shown in an exemplary embodiment of this disclosure;

[0026] Figure 3B This illustration shows a schematic diagram of a display interface of a target vehicle 303 in an abnormal position situation, as shown in an exemplary embodiment of the present disclosure.

[0027] Figure 3C A schematic diagram of another display interface of the target vehicle in an abnormal position situation, as shown in an exemplary embodiment of the present disclosure, is illustrated.

[0028] Figure 3D A schematic diagram of a display interface of a target vehicle under abnormal yaw angle conditions, as shown in an exemplary embodiment of the present disclosure, is illustrated.

[0029] Figure 3E A schematic diagram of another display interface of the target vehicle under abnormal yaw angle conditions, as shown in an exemplary embodiment of the present disclosure, is illustrated.

[0030] Figure 3F A schematic diagram of the display interface of the target vehicle when it arrives at the detection cabin, as shown in an exemplary embodiment of the present disclosure;

[0031] Figure 4 Another schematic flowchart of a vehicle navigation method according to an exemplary embodiment of the present disclosure is shown;

[0032] Figure 5 A schematic diagram illustrating the process of obtaining the approximation result of a preset contour in an exemplary embodiment of this disclosure is shown.

[0033] Figure 6A This diagram illustrates the representation of initial position information and discrete contour information in the target coordinate system according to an exemplary embodiment of the present disclosure.

[0034] Figure 6B The diagram illustrates the approximation result of the preset contour and the representation of discrete contour information in the target coordinate system of an exemplary embodiment of the present disclosure.

[0035] Figure 6C A schematic diagram illustrating the representation of the target discrete points in the target coordinate system according to an exemplary embodiment of the present disclosure is shown;

[0036] Figure 6D A schematic diagram illustrating the principle of determining the lateral edge detection results of the target vehicle in an exemplary embodiment of this disclosure is shown.

[0037] Figure 6E A schematic diagram illustrating the principle of determining the end edge detection result of the target vehicle in an exemplary embodiment of this disclosure is shown.

[0038] Figure 6F A schematic diagram showing the contour detection results of the target vehicle in an exemplary embodiment of this disclosure is provided.

[0039] Figure 7 A schematic diagram illustrating the principle of determining the deflection angle and offset distance of the target vehicle in an exemplary embodiment of this disclosure is shown.

[0040] Figure 8 A schematic block diagram of the functional modules of a vehicle navigation device according to an exemplary embodiment of the present disclosure is shown;

[0041] Figure 9 A schematic block diagram of a chip according to an exemplary embodiment of the present disclosure is shown;

[0042] Figure 10 A structural block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0043] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0044] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0045] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc., used in this disclosure are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0046] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0047] When guiding vehicles to their destination manually, the process is inefficient, requires a high degree of coordination between the guide and the driver, and is susceptible to human error. For example, incorrect judgment or unprofessional operation by the guide may cause the vehicle to repeatedly adjust its direction during the journey. Furthermore, manual guidance requires dedicated personnel, increasing operating costs and wasting human resources.

[0048] When guiding vehicles to their destination using road markings, these markings are prone to wear, obstruction, and damage, requiring location maintenance and repair. Furthermore, the driver's blind spots are significant, resulting in poor accuracy in directional guidance and making it difficult to consistently and effectively provide directional direction, especially for vehicles of different sizes.

[0049] To address the aforementioned issues, this exemplary embodiment provides a vehicle navigation method that incorporates the approximation principle into the contour detection process of target vehicles of different sizes, thereby ensuring that the contour detection results of target vehicles of various sizes are more accurate and that the contour detection results of target vehicles can be used for effective navigation.

[0050] In practical applications, the vehicle navigation method of this exemplary embodiment can be applied to various navigation scenarios, such as a vehicle traveling through a lane to a detection cabin for vehicle detection, or a vehicle traveling through a lane to a parking space, etc., which will not be elaborated here. The vehicle here can include various motor vehicles and non-motor vehicles, such as cars, trucks, motorcycles, electric vehicles, bicycles, etc., but is not limited to these.

[0051] Figure 1 A schematic diagram of an example system in which various methods described herein can be implemented according to exemplary embodiments of this disclosure is shown. Figure 1 As shown, the system 100 of this exemplary embodiment may include a sensing device 101, a server 102, and a vehicle, such as Figure 1 The first vehicle 103a and the second vehicle 103b are shown, but are not limited thereto. It should be understood that the sensing device 101 can be connected to the server 102 via a network, and the server 102 can also be connected to the vehicles such as the first vehicle 103a and the second vehicle 103b via a network.

[0052] like Figure 1 As shown, the sensing device 101 of the exemplary embodiment of this disclosure can be installed at the destination 105 that the vehicle is heading to or in the lane 104 leading to the destination 105. It is used to acquire environmental perception information of the lane. For example, when a vehicle approaches a detection cabin for inspection, the sensing device 101 can be installed at the opening of the detection cabin. The detection cabin can identify and detect defects in the vehicle chassis, tire treads, headlights, powertrain, etc., but is not limited to these. As another example, when a vehicle is about to enter a parking space, the sensing device 101 can be installed in the parking space. The sensing device 101 can include various radars such as lidar and millimeter-wave radar, or visual cameras such as monocular cameras, binocular cameras, fisheye cameras, infrared cameras, structured light cameras, panoramic cameras, event cameras, etc., but is not limited to these.

[0053] like Figure 1 As shown in the exemplary embodiment of this disclosure, server 102 stores a dynamic high-precision map, which may include road-level information, lane-level information, etc. Lane-level information indicates information about lanes in the road network, such as lane curvature, lane direction, lane centerline, lane width, lane markings, lane speed limits, lane splitting, and lane merging. Additionally, lane line types (dashed lines, solid lines, single lines, and double lines), lane line colors (white, yellow), road medians, median material, road arrows, text content, and their locations can also be included in the lane-level information. It should be understood that a dynamic high-precision map typically includes multiple layers, where the top-level image among the multiple layers may include dynamic information, such as road congestion and / or traffic light information.

[0054] like Figure 1 As shown, the vehicle in the exemplary embodiment of this disclosure may include an in-vehicle terminal, which may have a display screen. The in-vehicle terminal may or may not be part of the vehicle. For example, the in-vehicle terminal may be a mobile phone, tablet, in-vehicle computer, navigation system, or other terminals with a display screen. For example, the in-vehicle terminals and positioning devices installed in the first vehicle 103a and the second vehicle 103b can communicate with the server 102 via a network.

[0055] like Figure 1 As shown in the exemplary embodiment of this disclosure, the vehicle may also be equipped with a positioning device. This positioning device can communicate with the server 102 via a network, obtain the vehicle's location information, and transmit it to the server 102. The positioning device may be a locator based on wireless local area network positioning technology or satellite positioning technology, but is not limited to these.

[0056] like Figure 1 As shown, the server 102 can be a single server or a server cluster composed of multiple servers. A server can be, for example, a cloud server (or cloud, cloud-based server, cloud controller, or vehicle networking server, etc.). It can also be understood that a cloud server is a general term for devices or components with data processing capabilities, which may include physical devices such as hosts or processors, virtual devices such as virtual machines or containers, and chips or integrated circuits.

[0057] like Figure 1 As shown, in an exemplary embodiment of this disclosure, the sensing device 101 can acquire the environmental perception information of the lane and transmit it to the server 102. Based on the environmental perception information of the lane, the server 102 determines whether there is a vehicle in the lane 105, such as the first vehicle 103a and the second vehicle 103b. If the first vehicle 103a or the second vehicle 103b exists, navigation operations for the vehicles in the lane 105 can be started in real time or at a certain frequency (such as 5 times / second), thereby providing accurate guidance for the vehicles.

[0058] like Figure 1As shown, the network in the exemplary embodiments of this disclosure may include one or more networks, and any suitable network may be considered. By way of example and not limitation, one or more portions of the network may include an ad hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless local area network (WLAN), a wide area network (WAN), a wireless wide area network (WWAN), a metropolitan area network (MAN), a portion of the Internet, a portion of the public switched telephone network (PSTN), a cellular telephone network, or a combination of two or more of these.

[0059] In one alternative embodiment, the server of this exemplary embodiment can be used as a backend server for the central control unit and the vehicle terminal. The central control unit acts as a hub, establishing a network connection with the backend servers of the sensing device 101 and the vehicle terminal. The following uses a vehicle entering the detection cabin as an example, employing radar as the sensing device, to summarize the vehicle navigation method of this exemplary embodiment.

[0060] Figure 2 A schematic flowchart of a vehicle navigation method according to an exemplary embodiment of this disclosure is shown. Figure 2 As shown, the vehicle navigation method of an exemplary embodiment of this disclosure may include:

[0061] Step 201: When the central control unit detects that the vehicle is about to enter the testing compartment, if the radar is normal, it sends a start command to the radar equipment via the local area network.

[0062] Step 202: The radar equipment begins to cyclically scan the environmental perception information of the target lane based on the start command.

[0063] Step 203: The central control unit reads the environmental perception information of the target lane scanned by the radar equipment in a polling manner. This environmental perception information of the target lane includes the appearance scan information of the target vehicle.

[0064] Step 204: The central control panel analyzes the environmental perception information of the target lane to obtain the contour detection results of the target vehicle.

[0065] Step 205: Based on the contour detection results of the target vehicle, the center console determines the position and deflection angle of the target vehicle, and then executes steps 203 and 206. Here, the position and deflection angle of the target vehicle can be determined at a rate of 5 times per second.

[0066] Step 206: The central control unit transmits the position and deflection angle of the target vehicle to the backend server.

[0067] Step 207: The backend server determines the information to be displayed based on the target vehicle's position and deflection angle.

[0068] Step 208: The backend server sends a notification to the vehicle terminal to display the guidance information based on the display information.

[0069] Step 209: The in-vehicle terminal displays guidance information on the screen based on the guidance information display notification. This guidance information can indicate whether the target vehicle's position and turning angle are normal, allowing the driver to guide the vehicle along the optimal path. Simultaneously, the server can also send the guidance information to displays and other devices on the vehicle for the driver's convenience. Of course, this guidance information can also be displayed in audio format, not just visually.

[0070] Whether the target vehicle's position is normal can be determined by the minimum distance between the target vehicle's lateral edge and the edge of the target lane, while whether the target vehicle's deflection angle is normal can be determined by the magnitude of the target vehicle's deflection angle. The following section, using the detection cabin as the destination, explains the content displayed on the screen interface under different conditions.

[0071] Figure 3A A schematic diagram of the display interface of the target vehicle in a normal position, as shown in an exemplary embodiment of this disclosure, is illustrated. Figure 3A As shown, the display interface shows a detection cabin 301, and there is a target lane 302 in front of the door of the detection cabin 301. The centerline of the target vehicle 303 is basically coincident with the centerline of the target lane 302, indicating that the deflection angle and position of the target vehicle 303 are normal. A prompt message such as "Vehicle position is normal, please drive forward slowly" can be displayed in the prompt box 304.

[0072] Figure 3B A schematic diagram of a display interface for a target vehicle in an abnormal location situation, as illustrated in an exemplary embodiment of this disclosure, is shown. Figure 3BAs shown, the display interface shows a detection cabin 301, and a target lane 302 is located in front of the cabin door of the detection cabin 301. The direction of travel of the target vehicle can be taken as the front. Although the deflection angle of the target vehicle is relatively small or there is no deflection, the left edge of the target vehicle is close to the left edge of the target lane 302, which is prone to unsafe accidents. Therefore, the left edge of the target lane 302 can be highlighted or darkened in color to distinguish it from the right edge of the target lane 302, and a prompt message such as "Vehicle position is too far to the left, please correct the direction and move forward" can be displayed in the prompt box 304.

[0073] Figure 3C A schematic diagram illustrating another display interface of the target vehicle in an abnormal location situation, as shown in an exemplary embodiment of this disclosure. Figure 3C As shown, the display interface shows a detection cabin 301, and there is a target lane 302 in front of the door of the detection cabin 301. The direction of travel of the target vehicle 303 can be taken as the front. Although the deflection angle of the target vehicle 303 is relatively small or there is no deflection, the right edge of the target vehicle 303 is close to the right edge of the target lane 302, which is prone to unsafe accidents. Therefore, the right edge of the target lane 302 can be highlighted or darkened in color to distinguish it from the left edge of the target lane 302, and a prompt message such as "Vehicle position is too far to the right, please correct the direction and move forward" can be displayed in the prompt box 304.

[0074] Figure 3D A schematic diagram of a display interface for a target vehicle in an abnormal yaw angle situation, as illustrated in an exemplary embodiment of this disclosure, is shown. Figure 3D As shown, the display interface shows a detection cabin 301, and there is a target lane 302 in front of the cabin door of the detection cabin 301. The direction of travel of the target vehicle 303 can be taken as the front. The target vehicle 303 turns to the left at a relatively large angle, which is prone to unsafe accidents on the left side. Therefore, the left edge of the target lane 302 can be highlighted or darkened in color to distinguish it from the right edge of the target lane 302, and a prompt message such as "The vehicle is turning to the left, please correct the direction and move forward" can be displayed in the prompt box 304.

[0075] Figure 3E This illustration shows another display interface diagram of the target vehicle in an abnormal yaw angle situation, as an exemplary embodiment of this disclosure. Figure 3EAs shown, the display interface shows a detection cabin 301, and there is a target lane 302 in front of the cabin door of the detection cabin 301. The direction of travel of the target vehicle 303 can be taken as the front. The target vehicle 303 turns to the right at a relatively large angle, which is prone to unsafe accidents on the right side. Therefore, the right edge of the target lane 302 can be highlighted or darkened in color to distinguish it from the left edge of the target lane 302, and a prompt message such as "The vehicle is turning to the right, please correct the direction and move forward" can be displayed in the prompt box 304.

[0076] After the target vehicle enters the inspection chamber Figure 3F A schematic diagram of the display interface of the target vehicle upon arrival at the detection chamber, as shown in an exemplary embodiment of this disclosure, is illustrated. Figure 3F As shown, the display interface shows a detection cabin 301, within which there is also a target lane 302, and the target vehicle 303 is located within the target lane 302. In this case, it indicates that the target vehicle 303 has reached the detection cabin 301, and a prompt such as "Vehicle position OK, please get out of the vehicle to start the detection" can be displayed in the prompt box 304.

[0077] Figure 4 Another schematic flowchart of a vehicle navigation method according to an exemplary embodiment of this disclosure is shown. Figure 4 As shown, the vehicle navigation method of an exemplary embodiment of this disclosure may include:

[0078] Step 401: When a target vehicle is detected to be in the target lane, obtain the discrete contour information of the target vehicle. Here, the target lane can be regarded as a road leading to the destination. This road can be a straight road, a road with curves, or a road combining straight and curved roads.

[0079] The aforementioned sensing devices can collect sensing information of the target lane in real time or at a certain frequency (e.g., 5 times / second) and transmit it to the server via the network. The server can first perform data cleaning, data filtering and other preprocessing on the sensing information of the target lane, and then detect the environmental sensing information of the target lane to obtain the detection result of the target lane. If the detection result of the target lane contains target vehicle information, it means that the target vehicle is traveling in the target lane heading to its destination. Therefore, the discrete contour information of the target vehicle can be obtained from the detection result of the target lane.

[0080] For example, when the sensing device is a LiDAR, the environmental point cloud information of the target lane can be acquired by the LiDAR and then transmitted to the server. The server can analyze the environmental point cloud information of the target lane to determine whether there is a target vehicle in the target lane. If there is a target vehicle in the target lane, it means that the target vehicle is close to its destination, and precise navigation can be initiated for it. Therefore, the discrete contour information of the target vehicle can be determined based on the environmental point cloud information of the target lane.

[0081] Step 402: While keeping the orientation of the preset contour constant, determine the approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour.

[0082] In practical applications, exemplary embodiments of this disclosure can use the initial position information of a preset contour to describe the preset contour. The posture of the preset contour can be considered as the normal posture of the target vehicle in the target lane, which can be described by the angle between the centerline (or lateral edge line) of the preset vehicle and the centerline (or lateral edge line) of the target lane. The initial position information of the preset contour is regarded as multiple discrete points describing the actual contour of the target vehicle. Both are expressed in the same coordinate system. Then, while keeping the posture of the preset contour constant, the preset contour is used as the starting point, and the preset contour that approximates the discrete contours of target vehicles of different sizes is found by approximation principle.

[0083] For example, when the discrete contour information of the target vehicle can include position parameters of multiple discrete points on the edges of the target vehicle in different directions, which can be two-dimensional coordinate data of each discrete point, and the initial position information of the preset contour can be the initial two-dimensional position information of the preset contour, then the two-dimensional coordinate data of each discrete point on the edges of the target vehicle in different directions and the initial two-dimensional position information of the preset contour can be expressed on the target coordinate system, and then the approximation result of the preset contour can be obtained through the approximation principle.

[0084] When a target vehicle is present in the target lane, its position can be determined based on the environmental point cloud information of the target lane obtained by LiDAR, or based on the location information of the target parking space and the target lane map obtained by the positioning device installed on the target vehicle. Then, based on the target vehicle's position and the target lane map, the direction of the target lane relative to the target vehicle's location is determined. Next, based on the direction of the target lane relative to the target vehicle's location, the vertical coordinate of the target coordinate system can be determined. Finally, based on the target vehicle's position in the target lane and the vertical coordinate of the target coordinate system, the horizontal coordinate of the target coordinate system can be determined.

[0085] For example, if the target lane runs in a straight line from the location of the target vehicle, the vertical coordinate of the target coordinate system can be defined by the direction of that straight line. Then, the horizontal coordinate of the target coordinate system can be defined by referring to the vertical coordinate of the target coordinate system and the position of the target vehicle in the target lane.

[0086] For example, when the target lane is curved at the location of the target vehicle, the vertical coordinate of the target coordinate system can be defined based on the tangent of the curve. Then, the horizontal coordinate of the target coordinate system can be defined by referring to the vertical coordinate of the target coordinate system and the position of the target vehicle in the target lane.

[0087] Step 403: Based on the approximation result of the preset contour and the discrete contour information of the target vehicle, determine the contour detection result of the target vehicle.

[0088] In practical applications, if the preset contour approximates the discrete contour of the target vehicle while keeping the posture of the preset contour constant, then the preset contour and the discrete contour of the target vehicle will be connected. Therefore, the approximation result of the preset contour can be used as a reference to determine the contour detection result of the target vehicle using the discrete contour information of the target vehicle.

[0089] Furthermore, the exemplary embodiments of this disclosure use the approximation principle to find a preset profile that approximates the discrete profile of target vehicles of different sizes. Therefore, the profile detection results of target vehicles of different sizes can be determined by using the preset profile that approximates the discrete profile of target vehicles of different sizes and the discrete profile information of target vehicles of corresponding sizes.

[0090] Step 404: Navigate the target vehicle based on its contour detection results. Here, the deflection angle of the target vehicle can be determined based on its contour detection results and a preset driving direction. This preset driving direction can be associated with the approximation results of a preset contour. Then, based on the contour information of the target lane at the target vehicle's location and the target vehicle's contour detection results, the minimum distance difference between the target vehicle and the two edges of the target lane is determined. Finally, the target vehicle is guided based on the minimum distance difference between the target vehicle and the two edges of the target lane, as well as the target vehicle's deflection angle.

[0091] For example, the aforementioned preset driving direction can be determined by the approximation result of a preset contour, such as by a preset lateral extension direction. Simultaneously, the lateral extension direction of the target vehicle can be determined based on the contour detection result of the target vehicle. Finally, the deflection angle of the target vehicle is determined based on the preset driving direction and the lateral extension direction of the target vehicle. Furthermore, the edge position information of the target lane can be determined based on the contour information of the target lane at the location of the target vehicle. The lateral edge information of the target vehicle can be determined based on the contour detection result of the target vehicle. Then, the minimum offset distance between the lateral edge of the target vehicle and the edge of the target lane can be determined based on the edge position information of the target lane and the lateral edge information of the target vehicle.

[0092] When guiding a target vehicle based on the minimum distance difference between the target vehicle and the two sides of the target lane, and the deflection angle of the target vehicle, the offset of the target vehicle can be determined based on the minimum offset distance between the lateral edge of the target vehicle and the edge of the target lane, and the deflection of the target vehicle can be determined based on the deflection angle of the target vehicle. Then, based on the offset and deflection of the target vehicle, guidance information is generated and a display instruction for the guidance information is sent to the vehicle front end.

[0093] For example, when determining the deflection status of a target vehicle based on its deflection angle, the determination can be made based on the target vehicle's deflection angle and the allowable deflection angle range. For instance, if the target vehicle's deflection angle is within the allowable deflection angle range, it indicates that the target vehicle's attitude is normal and there is no over-deflection issue. If the target vehicle's deflection angle is outside the allowable deflection angle range, it indicates that the target vehicle's attitude is abnormal and there is an over-deflection issue.

[0094] Considering that the deflection of the target vehicle is directional, the direction of deflection can be determined by the sign of the deflection angle. For example, if the target vehicle's forward direction is taken as the front, a negative deflection angle indicates that the target vehicle will deflect to the left, while a positive deflection angle indicates that the target vehicle will deflect to the right.

[0095] As can be seen, the exemplary embodiments of this disclosure can monitor whether the deflection state of the target vehicle is within a preset range by introducing an allowable deflection angle range, thereby reducing driving direction errors or unsafe accidents caused by excessive deflection of the target vehicle. For example, when the allowable deflection angle range is set to within -2° to +2°, the deflection angle accuracy of the target vehicle can be guaranteed to be within ±2°.

[0096] For example, when determining the offset of a target vehicle based on the minimum offset distance between the lateral edge of the target vehicle and the edge of the target lane, the minimum distance between the target vehicle and the two sides of the target lane can be obtained first, and then the minimum distance between the target vehicle and the two sides of the target lane can be compared to determine the offset of the target vehicle.

[0097] As can be seen, the exemplary embodiment of this disclosure can determine the minimum distance difference between the target vehicle and the two sides of the target lane by comparing the minimum distances between the target vehicle and the two sides of the target lane. Based on the minimum distance between the target vehicle and the two sides of the target lane, the deviation of the target vehicle can be determined. For example, when the minimum distance difference between the target vehicle and the two sides of the target lane is greater than a preset difference, it can be considered that the target vehicle has deviated. The direction of deviation is determined by the lateral edge attribute of the target vehicle involved in the minimum distance between the target vehicle and the two sides of the target lane that is larger. Guidance information for vehicle deviation can be generated based on the deviation and deflection of the target vehicle. When the target vehicle reverses into the parking space, the allowable spacing range can ensure that the target vehicle is accurately driven into the parking space without colliding with surrounding vehicles. It has been verified that the method of the exemplary embodiment of this disclosure can ensure that the parking position deviation of the target vehicle is within ±5cm.

[0098] It should be noted that the exemplary embodiment method of this disclosure determines a preset contour that approximates the discrete contours of target vehicles of different sizes through the approximation principle. Based on this, the contour detection result of the target vehicle can be determined by using the approximation result of the preset contour and the discrete contour information of the target vehicle of the corresponding size. Then, the contour detection result of the target vehicle and the vehicle's allowable yaw information are used to navigate the target vehicle of that size. Therefore, the method of the exemplary embodiment of this disclosure has high practicality and can navigate target vehicles of different sizes.

[0099] As one possible implementation method, Figure 5 A schematic diagram illustrating the process of obtaining the approximation result of a preset contour in an exemplary embodiment of this disclosure is shown. Figure 5 As shown, an exemplary embodiment of this disclosure, while maintaining the attitude of the preset contour constant, obtains an approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour, including:

[0100] Step 501: Configure the initial position information of the preset contour using the position configuration parameters of the preset contour to obtain the configuration result of the preset contour.

[0101] In practical applications, configuring the initial position information of a preset contour is essentially a process of modifying the initial position information of the preset contour. Therefore, the configuration result of the preset contour can be considered as the updated position information of the preset contour.

[0102] For example, the aforementioned position configuration parameter of the preset contour can refer to the updated position parameter of the preset contour, or it can be the change step size of the initial position information of the preset contour. When the position configuration parameter of the preset contour refers to the updated position parameter of the preset contour, the configuration result of the preset contour is equal to the position configuration parameter of the preset contour; when the position configuration parameter of the preset contour refers to the change step size of the initial position information of the preset contour, the configuration result of the preset contour can be considered to be determined by the initial position information of the preset contour and the change step size of the initial position information of the preset contour.

[0103] Step 502: Determine whether the configuration result of the preset contour and the discrete contour information of the target vehicle meet the approximation endpoint condition.

[0104] Considering that finding a preset contour that approximates the discrete contour of the target vehicle by taking the initial position of the preset contour as the starting point is essentially finding a preset contour that connects to the discrete contour of the target vehicle, the relative position information between the preset contour and the discrete edge of the target vehicle can be determined based on the configuration result of the preset contour and the discrete contour information of the target vehicle.

[0105] If, based on the relative position information of the preset contour and the discrete edges of the target vehicle, it is determined that the preset contour and the discrete edges of the target vehicle are connected, it means that the configuration result of the preset contour and the discrete contour information of the target vehicle satisfy the approximation endpoint condition, and step 503 can be executed. It can be seen that the approximation endpoint condition can refer to the preset contour and the discrete edges of the target vehicle being connected.

[0106] If, based on the relative position information of the preset contour and the discrete edge of the target vehicle, it is determined that the minimum distance between the preset contour and the discrete edge of the target vehicle is greater than 0, and the preset contour and the discrete edge of the target vehicle are not yet connected, it can be determined that the configuration result of the preset contour and the discrete contour information of the target vehicle do not meet the approximation endpoint condition, and step 504 and / or step 505 need to be executed.

[0107] Step 503: Determine the approximation result of the preset contour based on the configuration information of the preset contour. That is, use the configuration information of the preset contour as the approximation result of the preset contour, thereby ending the position change of the preset contour.

[0108] Step 504: Update the initial position information of the preset contour based on the configuration information of the preset contour. After updating the initial position information of the preset contour based on the configuration information of the preset contour, the updated initial position of the preset contour can be used as the starting point to continue searching for the approximation result of the preset contour.

[0109] In practical applications, when the position configuration parameter of the preset contour refers to the step size of the change in the initial position information of the preset contour, after updating the initial position information of the preset contour based on the configuration information, the initial position information of the preset contour can be adjusted with the original step size of the change in the initial position information of the preset contour until the configuration result of the preset contour and the discrete contour information of the target vehicle meet the approximation endpoint condition. In this case, the initial position information configuration of the preset contour can be considered as an equidistant configuration until an approximation result of the preset contour that approximates the discrete contour of the target vehicle is found.

[0110] Step 505: Update the position configuration parameters of the preset contour based on the minimum distance between the preset contour and the discrete edges of the target vehicle. Here, after updating the initial position information of the preset contour based on its configuration information, the updated initial position of the preset contour can be used as the starting point to continue searching for an approximation result of the preset contour.

[0111] In practical applications, when the position configuration parameter of the preset contour refers to the updated position parameter of the preset contour, after updating the initial position information of the preset contour based on the configuration information of the preset contour, the position configuration parameter of the preset contour can be set by using the minimum distance between the preset contour and the discrete edge of the target vehicle.

[0112] For example, the position configuration parameter of the preset contour is set to be equal to the minimum distance between the preset contour and the discrete edges of the target vehicle. In this case, by adjusting the updated initial position information of the preset contour using the updated position configuration parameter of the preset contour, the approximation result of the preset contour can be directly determined.

[0113] In one alternative approach, the posture of the aforementioned preset profile can represent the normal driving posture of the target vehicle in the target lane. This normal driving posture is related to the lane orientation of the target lane at the target vehicle's location. Therefore, the posture of the preset profile is related to the orientation of the target lane at the target vehicle's location. For example: Figure 1 As shown, when the target vehicle is the first vehicle 103a, the target lane is in a straight line when the target vehicle is traveling in the direction of the target vehicle; when the target vehicle is the second vehicle 103b, the target lane is in a curved line when the target vehicle is traveling in the direction of the target vehicle.

[0114] The preset contour defined by the initial position information of the aforementioned preset contour can represent the maximum size preset contour that the target lane can accommodate. The shape of this preset contour can be determined based on the typical contour of the target vehicle. For example, since most vehicle contours are rectangular, the preset contour shape can be set to a rectangle. Furthermore, the maximum size preset contour that the target lane can accommodate is related to the size of the target lane at the location of the target vehicle. For example, the width of the maximum size preset contour that the target lane can accommodate can be determined by the width of the target lane at the location of the target vehicle.

[0115] As can be seen, the preset contour of the exemplary embodiment of this disclosure is determined by the initial position information and attitude of the preset contour. The initial position information of the preset contour can be initialized by the size of the target lane at the location of the target vehicle, and the attitude of the preset contour can be determined by the direction of the target lane at the location of the target vehicle.

[0116] For example, after obtaining the direction of the target lane at the location of the target vehicle, considering that the preset contour shape is defined as a rectangle, and the direction of the target lane at the location of the target vehicle is related to the normal posture of the target vehicle, and the preset contour shape is related to the shape of the target vehicle, the form of the position description equation of the preset contour can be determined based on the direction of the target lane at the location of the target vehicle and the preset contour shape. Therefore, the position description equation of the preset contour can be constructed based on the direction of the target lane at the location of the target vehicle. In this position description equation of the preset contour, the positioning information of the preset contour is a variable. The positioning information of the preset contour can be initialized using the width of the target lane at the location of the target vehicle, thereby obtaining the initial position information of the preset contour.

[0117] Once the direction of the target lane at the location of the target vehicle is detected, a target coordinate system can be established based on the direction of the target lane at the location of the target vehicle. The method for determining the direction of the horizontal and vertical coordinates of this positioning coordinate system can be found in the previous text.

[0118] Figure 6A This diagram illustrates the representation of initial position information and discrete contour information in the target coordinate system according to an exemplary embodiment of this disclosure. Figure 6A As shown, the preset contour may include a left edge line 601, a right edge line 602, and a front edge line 603. It may also include a rear edge line. Here, we will use the left edge line 601, right edge line 602, and front edge line 603 as examples. The initial position of the left edge line 601 is expressed as x = a0 and is represented in the target coordinate system. The initial position of the right edge line is expressed as x = b0 and is also represented in the target coordinate system. The initial position of the front edge line 603 is expressed as y = c0 and is also represented in the target coordinate system. Here, a0, b0, and c0 are constant values.

[0119] The aforementioned discrete contour information includes coordinate position data of multiple discrete points of the target vehicle in different directions. Based on the coordinate position data of multiple discrete points of the target vehicle in different directions, it can be represented on the target coordinate system to form a discrete contour 604 of the target vehicle.

[0120] You can follow Figure 6A Moving the left edge line 601, right edge line 602, and front edge line 603 in the direction of the middle arrow, which is essentially a process of gradually approaching the discrete contour 604 of the target vehicle, is essentially a process of increasing a0 and c0 and decreasing b0. That is, while keeping the posture and shape of the preset contour constant, the initial position of the preset contour is continuously updated.

[0121] like Figure 6A As shown, when a0, b0, and c0 are updated once, it can be determined whether the discrete point of the left edge of the target vehicle is located on the left edge line 601. If a discrete point of the left edge is detected to the left of the left edge line 601, or if a discrete point of the left edge is located on the left edge line 601, it can be determined that the left edge line 601 is connected to the discrete left edge of the target vehicle. Similarly, referring to the principle that the left edge line 601 is connected to the left edge of the target vehicle, it can be determined whether the right edge line 602 is connected to the discrete left edge of the target vehicle, and whether the front edge line 603 is connected to the discrete front edge of the target vehicle.

[0122] Figure 6B This illustration shows the approximation result of a preset contour and the representation of discrete contour information in the target coordinate system according to an exemplary embodiment of this disclosure. Figure 6B As shown, when the left edge line 601, the right edge line 602, and the front edge line 603 are connected to the discrete contour 604, it can be determined that the left edge line 601 and the right edge line 602 intersect at the first intersection point A, while the right edge line 602 and the front edge line 603 intersect at the second intersection point B.

[0123] like Figure 6B As shown, when the left edge line 601, right edge line 602, and front edge line 603 connect with the discrete contour 604, the approximation result of the formed preset contour includes the expression for the left edge line 601 at the target position as x = a1, represented in the target coordinate system; the expression for the right edge line at the target position as x = b1, represented in the target coordinate system; and the expression for the front edge line 603 at the target position as y = c1. Here, a1, b1, and c1 are constant values. In this case, the coordinates of the first intersection point A are (a1, c1), and the coordinates of the second intersection point B can be represented as (b1, c1).

[0124] In one alternative embodiment, the discrete contour information of the target vehicle in the exemplary embodiment of this disclosure includes: when the position parameters of multiple discrete points on the edge of the target vehicle in different directions are known, the position parameters of multiple discrete target points connected to the preset contour can be determined based on the approximation result of the preset contour and the discrete contour information of the target vehicle; and the contour detection result of the target vehicle can be determined based on the position parameters of the multiple discrete target points and the discrete contour information of the target vehicle.

[0125] When the target vehicle's contour detection results include the target vehicle's lateral edge detection results and the target vehicle's end edge detection results, since the approximation results of the preset contour are connected to the target vehicle's discrete contour, the target endpoint position parameters of the preset contour at the first lateral edge can be determined based on the approximation information of the preset contour. Then, based on the target endpoint position parameters of the preset contour at the first lateral edge, multiple target discrete points are obtained from the position parameters of multiple discrete points on the target vehicle's edges in different directions. These multiple target discrete points include a first target discrete point and a second target discrete point associated with the same target endpoint of the preset contour. The first target discrete point includes the discrete point closest to the lateral edge of the preset contour, and the second target discrete point includes the discrete point closest to the end edge of the preset contour.

[0126] Figure 6C A schematic diagram illustrating the representation of the target discrete points in the target coordinate system according to an exemplary embodiment of this disclosure is shown. For example... Figure 6C As shown, when the acquisition Figure 6B After approximating the preset contour as shown, we can use the first intersection point A formed by x = a1 and y = c1 as the starting point, and follow along... Figure 6C The x-axis arrow shown searches for the discrete point shortest to the front edge line 603 defined by y = c1. This discrete point can be defined as the first target discrete point C of the target vehicle at the end edge, and its coordinates can be represented as (d, c1). Similarly, starting from the first intersection point A, along... Figure 6C The y-axis arrow shown finds the discrete point that is closest to the left edge line 601 defined by x = a1. This discrete point can be defined as the second target discrete point D of the target vehicle on the lateral edge, and its coordinates can be represented as (a1, e).

[0127] For example, an exemplary embodiment of this disclosure may obtain the position parameters of multiple reference discrete points of the target vehicle on the lateral edge and the position parameters of multiple reference discrete points of the target vehicle on the end edge from the discrete contour information of the target vehicle based on the position parameters of multiple target discrete points. Then, based on the approximation result of the preset contour, the target endpoint position parameters of the preset contour on the first lateral edge and the target endpoint position parameters of the preset contour on the second lateral edge are determined. Next, based on the position parameters of multiple reference discrete points of the target vehicle on the lateral edge and the target endpoint position parameters of the preset contour on the first lateral edge, the lateral edge detection result of the target vehicle is determined. And based on the position parameters of multiple reference discrete points of the target vehicle on the end edge and the target endpoint position parameters of the preset contour on the second lateral edge, the end edge detection result of the target vehicle is determined.

[0128] For example, the approximation result of the preset contour includes the position parameters of the preset contour at the lateral edge and the position parameters of the preset contour at the end edge. Accordingly, the contour detection result of the target vehicle includes: the lateral edge detection result of the target vehicle and the end edge detection result of the target vehicle.

[0129] In practical applications, the position parameters of the target discrete points on the lateral edge and the target discrete points on the end edge of the target vehicle can be regarded as the range of values ​​of the position parameters of the reference discrete points. From the position parameters of the target vehicle at multiple discrete points on the edge in different directions, the position parameters of the target vehicle at multiple reference discrete points on the lateral edge can be obtained.

[0130] For example, when multiple target discrete points include a first target discrete point and a second target discrete point associated with the same target endpoint of a preset contour, then the multiple reference discrete points of the target vehicle on the lateral edge can at least include discrete points located between the first target discrete point and the second target discrete point. Alternatively, they can also include the first target discrete point and the second target discrete point, that is, incorporating the first target discrete point and the second target discrete point into the multiple reference discrete points of the target vehicle on the same lateral edge, and then fitting the position parameters of the multiple reference discrete points of the target vehicle on the same lateral edge (e.g., using the least squares method) to accurately determine the lateral edge detection result of the target vehicle.

[0131] Figure 6D A schematic diagram illustrating the principle of determining the lateral edge detection results of the target vehicle in an exemplary embodiment of this disclosure is shown. Figure 6DAs shown, after determining the coordinates of the first target discrete point C and the second target discrete point D, the discrete point located between the first target discrete point C and the second target discrete point D can be obtained from the coordinates of multiple discrete points on the edge of the target vehicle in different directions. In other words, based on the coordinates of the first target discrete point C and the second target discrete point D, the coordinates of all discrete points with abscissa a1 < x < d and ordinate c1 < y < e can be obtained from the coordinates of multiple discrete points on the edge of the target vehicle in different directions. Then, the least squares method is used to fit all discrete points with abscissa a1 < x < d and ordinate c1 < y < e to obtain the expression y = kx + n (where n is the slope and n is the intercept) of the extension line 605a of the lateral edge of the target vehicle. Then, using the expression y = c1 of the front edge and the expression y = kx + n of the extension line 605a of the lateral edge of the target vehicle, the first endpoint E and the second endpoint F of the target vehicle can be determined. The coordinates of the first endpoint E are represented as (f, c1). The coordinates of the second endpoint F can also be represented as (a1, g) using the expression x = a1 of the left edge line 601 and the equation y = kx + n of the extension line of the lateral edge of the target vehicle. In this case, the coordinates of the first endpoint E (f, c1), the coordinates of the second endpoint F (a1, g), and the extension direction expression of the lateral edge of the target vehicle y = kx + n can jointly determine the left edge segment EF of the target vehicle.

[0132] Given that the lateral edge detection results of the target vehicle are determined, one endpoint of the target vehicle at the end edge is already determined. Therefore, based on the approximation results of the preset contour at the end edge and the position parameters of the target vehicle at the lateral edge, the position parameters of the intersection point between the end edge of the preset contour and the lateral edge of the target vehicle can be determined, i.e., the position parameters of the first endpoint of the target vehicle at the end edge. Then, based on the position parameters of the first endpoint of the target vehicle at the end edge, the lateral edge detection results of the target vehicle, and the relative positional relationship between the lateral edge and the end edge of the target vehicle, the extension direction of the target vehicle at the end edge can be determined. Finally, based on the extension direction of the target vehicle at the end edge, the target endpoint position parameters of the preset contour at the second lateral edge, and the position parameters of the first endpoint of the target vehicle at the end edge, the end edge detection results of the target vehicle can be determined.

[0133] For example, in determining the extension direction of the target vehicle at the end edge, the exemplary embodiment of this disclosure essentially determines an expression for the extension direction of the target vehicle at the end edge. Then, by combining the expression for the extension direction of the target vehicle at the end edge with the expression for the preset contour at the second lateral edge, the position parameters of the second endpoint of the target vehicle at the end edge can be determined. Therefore, the end edge detection result of the target vehicle can be determined based on the position parameters of the first endpoint of the target vehicle at the end edge, the position parameters of the second endpoint of the target vehicle at the end edge, and the expression for the extension direction of the target vehicle at the end edge.

[0134] Figure 6E This illustration shows a schematic diagram illustrating the principle of determining the end edge detection results of the target vehicle in an exemplary embodiment of this disclosure. Figure 6F A schematic diagram illustrating the contour detection results of a target vehicle according to an exemplary embodiment of this disclosure is shown. Figure 6E and Figure 6F As shown, since the lateral edge line and end edge line of the target vehicle are perpendicular, the normal equation y = -x / k + m passing through the first endpoint E can be determined based on the extension direction expression y = kx + n of the first endpoint E and the left edge of the target vehicle. This normal equation represents the extension line 605b of the target vehicle at the end edge. Then, based on the normal equation y = -x / k + m passing through the first endpoint E and the expression x = b1 of the right edge line 602, the third endpoint G of the target vehicle can be determined, with coordinates represented as (b1, h). In this case, the extension line 605b of the target vehicle at the end edge, located between the first endpoint E and the third endpoint G, can be defined as the front edge line of the target vehicle.

[0135] When the preset contour shape is rectangular, the contour detection result of the target vehicle will also be a rectangular contour. For a rectangular contour, determining the three endpoint contours of the target vehicle is sufficient to determine its rectangular contour. This can be achieved as follows: Figure 6F As shown, the left edge segment EF of the target vehicle is formed by the first endpoint E and the second endpoint F of the target vehicle, and the front edge segment EG of the target vehicle is formed by the first endpoint E and the third endpoint G of the target vehicle. Given two non-parallel edge segments (such as the left edge segment EF and the front edge segment EG of the target vehicle), the specific shape of the rectangular outline can be determined.

[0136] For a moving target vehicle, the possibility of an accident is relatively high when it is close to the edge of the target lane, while the possibility of an accident in front of the target vehicle is relatively low. Therefore, the lateral edge detection result of the target vehicle can be accurately determined by fitting. Although the end edge detection result of the target vehicle determined by normal method does not use the discrete points of the target vehicle, it will not affect the stable and reliable guidance of the target vehicle.

[0137] Figure 7 A schematic diagram illustrating the principle of determining the deflection angle and offset distance of the target vehicle in an exemplary embodiment of this disclosure is shown. Figure 7 As shown, a preset driving direction can be set to be equal to the right edge extension direction 701 of the preset contour. For example, the angle α between the right edge 702b of the target vehicle and the right edge extension direction 701 of the preset contour can be calculated, and this angle is defined as the deflection angle of the target vehicle. At the same time, the minimum distance d1 between the left edge 702a of the target vehicle and the left edge 703a of the target lane can be calculated, and the minimum distance d2 between the right edge 702b of the target vehicle and the right edge 703b of the target lane can be calculated. Then, based on the difference between d1 and d2, i.e., the offset distance, it is determined whether the target vehicle deviates to the left or right.

[0138] One or more technical solutions provided in the exemplary embodiments of this disclosure, when detecting that a target vehicle is located in a target lane, can determine an approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour while maintaining the constant attitude of the preset contour. Then, using the approximation result of the preset contour as a reference, combined with the discrete contour information of the target vehicle, the contour detection result of the target vehicle is determined. Based on this, navigation of the target vehicle can be performed based on the contour detection result of the target vehicle and the vehicle's permissible yaw information. It is evident that the method of the exemplary embodiments of this disclosure can continuously navigate the target vehicle without manual guidance, thereby improving vehicle guidance efficiency and reducing increased usage costs and waste of human resources. Moreover, this method has no blind spots and does not require the location, maintenance, or repair of ground markings.

[0139] Furthermore, the approximation result of the preset contour in the exemplary embodiments of this disclosure can essentially be viewed as a process of finding a preset contour that approximates the discrete contour by taking the initial position of the preset contour as the starting point while keeping the attitude of the preset contour constant. Therefore, the approximation result of the preset contour is relatively accurate. Using this as a reference, combined with the discrete contour information of the target vehicle, the contour detection result of the target vehicle can be determined relatively accurately. It is evident that the exemplary embodiments of this disclosure can effectively navigate the target vehicle based on the contour detection result of the target vehicle and the vehicle's permissible yaw information.

[0140] Furthermore, when the exemplary embodiments of this disclosure obtain the approximation result of a preset contour through the principle of contour approximation, even if the discrete contour dimensions of the target vehicle are different, the preset contour can be used as the starting point to find a preset contour that approximates the discrete contour of target vehicles of different sizes through the approximation principle. Based on this, the contour detection result of the target vehicle can be determined using the approximation result of the preset contour and the discrete contour information of the target vehicle of the corresponding size, and the target vehicle's contour detection result and vehicle allowable yaw information can be used to navigate the target vehicle of that size. Therefore, the method of the exemplary embodiments of this disclosure is highly practical and can navigate target vehicles of different sizes.

[0141] The foregoing primarily describes the solutions provided by the embodiments of this disclosure from the perspective of the server. It is understood that, in order to implement the above functions, the server includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0142] This disclosure embodiment can divide the server into functional units according to the above method example. For example, it can divide each function into a separate functional module, or it can integrate two or more functions into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this disclosure embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0143] By dividing each functional module according to its corresponding function, an exemplary embodiment of this disclosure provides a vehicle navigation device, which can be a server or a chip applied to a server. Figure 8 A schematic block diagram of the functional modules of a vehicle navigation device according to an exemplary embodiment of the present disclosure is shown. Figure 8 As shown, the vehicle navigation device 800 includes:

[0144] The acquisition module 801 is used to acquire discrete contour information of the target vehicle when the target vehicle is detected to be in the target lane;

[0145] The detection module 802 is used to determine the approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour, and to determine the contour detection result of the target vehicle based on the preset contour information of the target vehicle and the discrete contour information of the target vehicle.

[0146] The guidance module 803 is used to navigate the target vehicle based on the contour detection results of the target vehicle.

[0147] In one possible implementation, the detection module 802 is used to configure the initial position information of the preset contour using the position configuration parameters of the preset contour to obtain the configuration result of the preset contour. If the configuration result of the preset contour and the discrete contour information of the target vehicle satisfy the approximation endpoint condition, the approximation result of the preset contour is determined based on the configuration information of the preset contour.

[0148] In one possible implementation, the preset contour is connected to the discrete edge of the target vehicle when the configuration result of the preset contour and the discrete contour information of the target vehicle satisfy the approximation endpoint condition.

[0149] In one possible implementation, when the configuration result of the preset contour does not satisfy the approximation endpoint condition with the discrete contour information of the target vehicle, the minimum distance between the preset contour and the discrete edge of the target vehicle is greater than 0.

[0150] In one possible implementation, the detection module 802 is further configured to update the initial position information of the preset contour based on the configuration information of the preset contour if the configuration result of the preset contour does not satisfy the approximation endpoint condition with the discrete contour information of the target vehicle.

[0151] In one possible implementation, the detection module 802 is further configured to update the position configuration parameters of the preset contour based on the minimum distance between the preset contour and the discrete edge of the target vehicle if the configuration result of the preset contour does not satisfy the approximation endpoint condition with respect to the discrete contour information of the target vehicle.

[0152] In one possible implementation, the orientation of the preset profile is related to the direction of the target lane at the location of the target vehicle, and the initial position information of the preset profile is related to the size of the target lane at the location of the target vehicle.

[0153] In one possible implementation, the discrete contour information of the target vehicle includes: position parameters of multiple discrete points on the edges of the target vehicle in different directions; the detection module 802 is used to determine the position parameters of multiple discrete target points connected to the preset contour based on the approximation result of the preset contour and the discrete contour information of the target vehicle; and to determine the contour detection result of the target vehicle based on the position parameters of the multiple discrete target points and the discrete contour information of the target vehicle.

[0154] In one possible implementation, the approximation result of the preset contour includes the position parameters of the preset contour at the lateral edge and the position parameters of the preset contour at the end edge. The detection module 802 is used to determine the target endpoint position parameters of the preset contour at the first lateral edge based on the approximation result of the preset contour; and to obtain the position parameters of multiple target discrete points from the position parameters of multiple discrete points at the edges of the target vehicle in different directions based on the target endpoint position parameters of the preset contour at the first lateral edge.

[0155] In one possible implementation, the contour detection result of the target vehicle includes: the lateral edge detection result of the target vehicle and the end edge detection result of the target vehicle. The detection module 802 is used to obtain the position parameters of multiple reference discrete points of the target vehicle on the lateral edge from the discrete contour information of the target vehicle based on the position parameters of the multiple target discrete points; determine the endpoint position parameters of the preset contour on the first lateral edge and the target endpoint position parameters of the preset contour on the second lateral edge based on the approximation result of the preset contour; determine the lateral edge detection result of the target vehicle based on the position parameters of the multiple reference discrete points of the target vehicle on the lateral edge and the endpoint position parameters of the preset contour on the first lateral edge; and determine the end edge detection result of the target vehicle based on the lateral edge detection result of the target vehicle and the target endpoint position parameters of the preset contour on the second lateral edge.

[0156] In one possible implementation, the approximation result of the preset contour includes position parameters of the preset contour at the lateral edge and position parameters of the preset contour at the end edge, and the plurality of target discrete points includes a first target discrete point and a second target discrete point associated with the same endpoint of the preset contour.

[0157] The target vehicle has multiple reference discrete points on its lateral edge, including at least a discrete point located between the first target discrete point and the second target discrete point that is associated with the same target endpoint of the preset profile. The first target discrete point includes the discrete point closest to the lateral edge of the preset profile, and the second target discrete point includes the discrete point closest to the end edge of the preset profile.

[0158] In one possible implementation, the vehicle yaw information includes: a minimum distance threshold between the vehicle edge and the lane edge; the guidance module 803 is used to determine the yaw angle of the target vehicle based on the contour detection result of the target vehicle and a preset driving direction, wherein the preset driving direction is associated with the approximation result of the preset contour; to determine the minimum distance difference between the target vehicle and the two sides of the target lane based on the contour information of the target lane at the location of the target vehicle and the contour detection result of the target vehicle; and to guide the target vehicle based on the minimum distance difference between the target vehicle and the two sides of the target lane, and the yaw angle of the target vehicle.

[0159] Figure 9 A schematic block diagram of a chip according to an exemplary embodiment of the present disclosure is shown. Figure 9 As shown, the chip 900 includes one or more (including two) processors 901 and a communication interface 902. The communication interface 902 can support the server in performing the data transmission and reception steps in the above method, and the processor 901 can support the server in performing the data processing steps in the above method.

[0160] Optional, such as Figure 9 As shown, the chip 900 also includes a memory 903, which may include read-only memory and random access memory, and provides operation instructions and data to the processor. A portion of the memory may also include non-volatile random access memory (NVRAM).

[0161] In some implementations, such as Figure 9 As shown, processor 901 executes corresponding operations by calling operation instructions stored in memory (which may be stored in the operating system). Processor 901 controls the processing operations of any terminal device; processor can also be called a central processing unit (CPU). Memory 903 may include read-only memory and random access memory, and provides instructions and data to processor 901. A portion of memory 903 may also include NVRAM. For example, in applications, memory, communication interfaces, and other components are coupled together via a bus system, which may include, in addition to a data bus, a power bus, a control bus, and a status signal bus, etc. However, for clarity, in... Figure 9 The general designated all buses as Bus System 904.

[0162] The methods disclosed in the embodiments of this disclosure can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above methods can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above methods.

[0163] Exemplary embodiments of this disclosure also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the electronic device to perform a method according to an embodiment of this disclosure.

[0164] Exemplary embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to embodiments of this disclosure.

[0165] Exemplary embodiments of this disclosure also provide a computer program product, including a computer program, wherein, when executed by a processor of a computer, the computer program is used to cause the computer to perform a method according to an embodiment of this disclosure.

[0166] refer to Figure 10The present invention describes a structural block diagram of an electronic device 1000 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0167] like Figure 10 As shown, the electronic device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. The RAM 1003 may also store various programs and data required for the operation of the device 1000. The computing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0168] like Figure 10 As shown, multiple components in electronic device 1000 are connected to I / O interface 1005, including: input unit 1006, output unit 1007, storage unit 1008, and communication unit 1009. Input unit 1006 can be any type of device capable of inputting information to electronic device 1000. Input unit 1006 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 1007 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 1008 may include, but is not limited to, disk and optical disk. Communication unit 1009 allows electronic device 1000 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0169] like Figure 10As shown, computing unit 1001 can be various general-purpose and / or dedicated processing components with processing and computing capabilities. Some examples of computing unit 1001 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Computing unit 1001 performs the various methods and processes described above. For example, in some embodiments, the methods of exemplary embodiments of this disclosure can be implemented as computer software programs tangibly contained in a machine-readable medium, such as storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 1000 via ROM 1002 and / or communication unit 1009. In some embodiments, computing unit 1001 can be configured to perform the methods of exemplary embodiments of this disclosure by any other suitable means (e.g., by means of firmware).

[0170] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0171] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0172] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0173] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0174] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0175] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0176] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this disclosure are performed, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center integrating one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid-state drive (SSD).

[0177] Although this disclosure has been described in conjunction with specific features and embodiments, it will be apparent that various modifications and combinations can be made therein without departing from the spirit and scope of this disclosure. Accordingly, this specification and drawings are merely exemplary illustrations of the disclosure as defined by the appended claims and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this disclosure. It is obvious that those skilled in the art can make various alterations and modifications to this disclosure without departing from its spirit and scope. Thus, this disclosure is also intended to include any such modifications and modifications that fall within the scope of the claims of this disclosure and their equivalents.

Claims

1. A vehicle navigation method, characterized in that, include: When a target vehicle is detected to be in the target lane, the discrete contour information of the target vehicle is acquired; While keeping the orientation of the preset contour constant, the approximation result of the preset contour is determined based on the discrete contour information of the target vehicle and the initial position information of the preset contour. Based on the approximation result of the preset contour and the discrete contour information of the target vehicle, the contour detection result of the target vehicle is determined. Navigation is performed on the target vehicle based on the contour detection results of the target vehicle. The posture of the preset contour is related to the direction of the target lane at the location of the target vehicle, and the initial position information of the preset contour is related to the size of the target lane at the location of the target vehicle.

2. The method according to claim 1, characterized in that, While maintaining the constant posture of the preset contour, the approximation result of the preset contour is obtained based on the discrete contour information of the target vehicle and the initial position information of the preset contour, including: The initial position information of the preset contour is configured using the position configuration parameters of the preset contour to obtain the configuration result of the preset contour; If the configuration result of the preset contour and the discrete contour information of the target vehicle satisfy the approximation endpoint condition, the approximation result of the preset contour is determined based on the configuration information of the preset contour.

3. The method according to claim 2, characterized in that, When the configuration result of the preset contour and the discrete contour information of the target vehicle meet the approximation endpoint condition, the preset contour connects to the discrete edge of the target vehicle.

4. The method according to claim 2, characterized in that, When the configuration result of the preset contour does not satisfy the approximation endpoint condition with the discrete contour information of the target vehicle, the minimum distance between the preset contour and the discrete edge of the target vehicle is greater than 0.

5. The method according to claim 2, characterized in that, The step of obtaining an approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour while keeping the posture of the preset contour constant also includes: If the configuration result of the preset contour does not meet the approximation endpoint condition with the discrete contour information of the target vehicle, the initial position information of the preset contour is updated based on the configuration information of the preset contour.

6. The method according to claim 5, characterized in that, The step of obtaining an approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour while keeping the posture of the preset contour constant also includes: If the configuration result of the preset contour does not meet the approximation endpoint condition with the discrete contour information of the target vehicle, the position configuration parameters of the preset contour are updated based on the minimum distance between the preset contour and the discrete edge of the target vehicle.

7. The method according to any one of claims 1 to 6, characterized in that, The discrete contour information of the target vehicle includes: position parameters of multiple discrete points on the edges of the target vehicle in different directions; the determination of the contour detection result of the target vehicle based on the approximation result of the preset contour and the discrete contour information of the target vehicle includes: Based on the approximation result of the preset contour and the discrete contour information of the target vehicle, the position parameters of multiple target discrete points connected to the preset contour are determined. Based on the position parameters of the multiple target discrete points and the discrete contour information of the target vehicle, the contour detection result of the target vehicle is determined.

8. The method according to claim 7, characterized in that, The approximation result of the preset contour includes the position parameters of the preset contour at the lateral edge and the position parameters of the preset contour at the end edge. The determination of the position parameters of multiple discrete target points connected to the preset contour based on the approximation result of the preset contour and the discrete contour information of the target vehicle includes: Based on the approximation result of the preset contour, the target endpoint position parameters of the preset contour at the first lateral edge are determined; Based on the target endpoint position parameters of the preset contour at the first lateral edge, the position parameters of multiple target discrete points are obtained from the position parameters of multiple discrete points at the edges of the target vehicle in different directions.

9. The method according to claim 7, characterized in that, The contour detection result of the target vehicle includes: the lateral edge detection result of the target vehicle and the end edge detection result of the target vehicle. Determining the contour detection result of the target vehicle based on the approximation result of the preset contour and the discrete contour information of the target vehicle includes: Based on the position parameters of the multiple target discrete points, the position parameters of multiple reference discrete points of the target vehicle at the lateral edge are obtained from the discrete contour information of the target vehicle. Based on the approximation result of the preset contour, the endpoint position parameters of the preset contour at the first lateral edge and the target endpoint position parameters of the preset contour at the second lateral edge are determined. Based on the position parameters of multiple reference discrete points of the target vehicle on the lateral edge and the position parameters of the endpoints of the preset contour on the first lateral edge, the lateral edge detection result of the target vehicle is determined. Based on the lateral edge detection results of the target vehicle and the target endpoint position parameters of the preset contour on the second lateral edge, the end edge detection results of the target vehicle are determined.

10. The method according to claim 9, characterized in that, The approximation result of the preset contour includes the position parameters of the preset contour at the lateral edge and the position parameters of the preset contour at the end edge. The plurality of target discrete points include a first target discrete point and a second target discrete point associated with the same endpoint of the preset contour. The target vehicle has multiple reference discrete points on its lateral edge, including at least a discrete point located between the first target discrete point and the second target discrete point that is associated with the same target endpoint of the preset profile. The first target discrete point includes the discrete point closest to the lateral edge of the preset profile, and the second target discrete point includes the discrete point closest to the end edge of the preset profile.

11. The method according to any one of claims 1 to 6, characterized in that, The navigation of the target vehicle based on the contour detection results of the target vehicle includes: Based on the contour detection results of the target vehicle and the preset driving direction, the deflection angle of the target vehicle is determined, and the preset driving direction is associated with the approximation result of the preset contour. Based on the contour information of the target lane at the location of the target vehicle and the contour detection results of the target vehicle, the minimum distance difference between the two sides of the target vehicle and the target lane is determined. The target vehicle is guided based on the minimum distance difference between the target vehicle and the two edges of the target lane, and the deflection angle of the target vehicle.

12. A vehicle navigation device, characterized in that, include: The acquisition module is used to acquire discrete contour information of the target vehicle when the target vehicle is detected to be in the target lane; The detection module is used to determine the approximation result of the preset contour based on the discrete contour information of the target vehicle and the initial position information of the preset contour, and to determine the contour detection result of the target vehicle based on the preset contour information of the target vehicle and the discrete contour information of the target vehicle. A guidance module is used to navigate the target vehicle based on the contour detection results of the target vehicle. The posture of the preset contour is related to the direction of the target lane at the location of the target vehicle, and the initial position information of the preset contour is related to the size of the target lane at the location of the target vehicle.

13. An electronic device, characterized in that, include: processor; as well as, Stored program memory, The program includes instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 11.

14. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to perform the method according to any one of claims 1 to 11.

15. A computer program product, characterized in that, Includes a computer program, wherein the computer program, when executed by a processor, implements the method of any one of claims 1 to 11.

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