Vehicle racing data processing method, device, system and storage medium

Abstract

The application provides a vehicle racing data processing method, device, system and storage medium, and belongs to the technical field of vehicles. The method comprises the following steps: displaying a pre-stored track trajectory image on a preset display screen. The position information of the vehicle during racing is acquired every preset unit time, and the position and navigation information of the vehicle are displayed in real time on the pre-stored track trajectory image. The position information and pre-stored track point data are subjected to track matching processing to generate target track points. The target track points are subjected to timing point estimation processing to determine racing timing point data; and the racing data of the vehicle is output according to the racing timing point data and the target track point data. The application has the advantage that more accurate racing data can be obtained when a family car races on a road in a closed and safe area.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle racing data processing method, apparatus, system, and storage medium. Background Technology

[0002] With the increasing popularity of vehicles and their ever-improving driving performance, people have higher expectations for cars beyond their regular use. High-performance family cars are increasingly being used for track racing. For ordinary people wanting to obtain racing data, they typically need to go to a dedicated track and use professional racing equipment to get accurate results. However, the time and cost of driving to a professional track or using expensive equipment are prohibitive, deterring many from participating.

[0003] Therefore, how to obtain accurate racing data when using a family car for racing in a closed and safe area without using a dedicated racetrack or professional racing equipment has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a vehicle racing data processing method, apparatus, system, and storage medium that can obtain accurate racing data when using a family car for racing in a closed and safe area without using a dedicated racetrack or professional racing equipment within the track.

[0005] In a first aspect, this application provides a vehicle racing data processing method, including:

[0006] A pre-stored track trajectory image is displayed on a preset display screen, wherein the pre-stored track trajectory image includes multiple pre-stored trajectory point data numbered sequentially;

[0007] The vehicle's location information during racing is acquired every preset unit of time, and the vehicle's location and navigation information are displayed in real time on the pre-stored track trajectory image based on the location information.

[0008] The location information and the pre-stored trajectory point data are subjected to trajectory matching processing to generate the target trajectory point;

[0009] The target trajectory points are subjected to timing point estimation processing to determine the racing timing point data;

[0010] Based on all racing timing point data and all target trajectory point data, output the vehicle's racing data.

[0011] In one possible implementation, the pre-stored trajectory point data includes multiple pre-stored trajectory points, and all the location information includes R location points, where R is a positive integer. Correspondingly, trajectory matching processing is performed on all the location information and the pre-stored trajectory point data, including: sequentially traversing each location point according to the acquisition order, and for the r-th location point reached, performing the following steps: determining the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th location point, where r is a positive integer greater than 0 and less than or equal to R; if it is determined that the distance between the r-th location point and the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th location point is less than a preset matching threshold, then the number of the pre-stored trajectory point closest to the r-th location point in the pre-stored trajectory point data is stored as an index value; and the r-th index value and the r-th location point are stored as the r-th target trajectory point.

[0012] In one possible implementation, when there are G target trajectory points, each target trajectory point includes a location data, a time data, and an index value, where G is a positive integer greater than 0. Correspondingly, the step of estimating timing points for the target trajectory points includes: performing the following steps for the g-th target trajectory point to determine racing timing point data, where g is a positive integer less than or equal to G: judging the index value of the g-th target trajectory point; when it is detected that the index value of the g-th target trajectory point is equal to a preset timing point matching value, reserving the g-th target trajectory point as a racing timing point, and setting the g-th target trajectory point... Time data is stored as the time value of the xth racing timing point in a preset result area, where x is a positive integer less than or equal to g; time data in the preset left buffer and preset right buffer are cleared; if it is determined that the interval between the time value of the xth racing timing point and the time value of the (x-1)th racing timing point is greater than a preset interval time limit, then it is determined whether the distance between the position data of the g-th target trajectory point and the position data of the target trajectory point corresponding to the time value of the (x-1)th racing timing point is greater than a preset interval distance limit; if so, it is detected whether a race is in progress; if it is determined that a race is in progress, the racing timing point time value in the preset result area is output.

[0013] In one possible implementation, the step of displaying the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the position information includes: determining the vehicle's real-time display coordinate data based on the position information; and displaying the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the vehicle's real-time display coordinate data.

[0014] In one possible implementation, the step of displaying the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the vehicle's real-time displayed coordinate data includes: determining an estimated distance every preset estimation time based on the vehicle's real-time displayed coordinate data; and displaying the vehicle's position and navigation information in real time on the pre-stored track trajectory image according to the estimated distance at a preset refresh frequency.

[0015] In one possible implementation, the real-time vehicle coordinate data includes multiple vehicle coordinate points corresponding to a unit time and the vehicle speed corresponding to each unit time point; correspondingly, the calculation formula for determining the estimated distance every preset estimation time based on the real-time vehicle coordinate data is as follows:

[0016] ED=ED′+V×Δt

[0017] In the formula, ED is the distance between the vehicle coordinate point corresponding to the current unit time and the vehicle coordinate point corresponding to the first unit time, ED′ is the distance between the vehicle coordinate point corresponding to the previous unit time and the vehicle coordinate point corresponding to the first unit time, V is the vehicle speed corresponding to the current unit time, and Δt is the preset estimated time.

[0018] In one possible implementation, after outputting the vehicle's racing data based on all racing timing point data and all target trajectory point data, the method further includes: in response to a preset track sharing operation, pushing the vehicle's racing data and the pre-stored track trajectory image to at least one target platform.

[0019] In one possible implementation, after outputting the vehicle's racing data based on all racing timing point data and all target trajectory point data, the method further includes: in response to a preset real-time fleet formation operation, acquiring real-time position data of multiple vehicles; and determining real-time fleet image data based on the real-time position data of multiple vehicles and the pre-stored track trajectory image.

[0020] In one possible implementation, after determining the real-time fleet image data, the method further includes: acquiring interactive data; displaying and / or playing the interactive data; and in response to a response operation, acquiring response data and pushing the response data to at least one target platform.

[0021] Secondly, this application provides a vehicle racing data processing device, comprising:

[0022] The track display module is used to display a pre-stored track trajectory image on a preset display screen, wherein the pre-stored track trajectory image includes multiple pre-stored trajectory point data numbered sequentially.

[0023] The real-time inertial navigation module is used to acquire the vehicle's position information during racing at preset unit time intervals, and display the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the position information.

[0024] The trajectory matching module is used to perform trajectory matching processing on the location information and the pre-stored trajectory point data to generate target trajectory points;

[0025] The data analysis module is used to perform timing point estimation processing on the target trajectory point data to determine the racing timing points;

[0026] The data analysis module is also used to output vehicle racing data based on all racing timing point data and all target trajectory point data.

[0027] Thirdly, this application provides a vehicle racing data processing system, including: a locator and a server;

[0028] The locator is installed at a designated location on the vehicle, and the locator contains a positioning module for collecting the vehicle's latitude and longitude data.

[0029] The server includes: at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to perform the vehicle racing data processing method as described in the first aspect.

[0030] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the vehicle racing data processing method as described in the first aspect.

[0031] The vehicle racing data processing method, apparatus, system, and storage medium provided in this application acquire vehicle location information at preset time intervals, then display the vehicle's position and navigation information in real time on a pre-stored track trajectory image based on the location information. The acquired location information and pre-stored trajectory point data are then matched to generate target trajectory points. Next, timing point estimation processing is performed on the target trajectory points to determine racing timing point data. Finally, based on the racing timing point data and all target trajectory point data, the vehicle's racing data is output. This application reduces the deviation between racing timing point data and actual racing timing point data by using trajectory matching processing and timing point estimation processing, thereby improving the accuracy of the final vehicle racing data. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A flowchart illustrating the vehicle racing data processing method provided in this application embodiment;

[0034] Figure 2 This is a schematic diagram of the trajectory matching processing flow provided in the embodiments of this application;

[0035] Figure 3 This is a schematic diagram of the timing point estimation process provided in the embodiments of this application;

[0036] Figure 4 This is a schematic diagram of the area where the preset timing point matching value is located, provided in the embodiments of this application;

[0037] Figure 5 Schematic diagram of the vehicle racing data processing device provided in the embodiments of this application Figure 1 ;

[0038] Figure 6 Schematic diagram of the vehicle racing data processing device provided in the embodiments of this application Figure 2 ;

[0039] Figure 7 This is a schematic diagram of the hardware structure of the vehicle racing data processing system provided in an embodiment of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] With the increasing popularity of vehicles and the continuous improvement of driving performance, more and more people are using high-performance family cars for track racing. Currently, for ordinary people to participate in track racing with their family cars, they typically need to go to a dedicated racetrack and use expensive racing equipment on a pre-drawn track map. However, the cost of driving to a professional racetrack is quite high, deterring many people. Existing technologies also use mobile phones equipped with common mobile location data acquisition devices, such as those with GPS modules, to obtain racing data. However, the inventors discovered that due to the high speeds of vehicles during racing, GPS cannot respond in time, leading to increased deviations in determining the starting point location data. This increases the error between the obtained racing data and the actual racing data, resulting in reduced accuracy of the racing data.

[0042] To address the aforementioned technical problems, this application provides the following technical concept: When a vehicle is racing, latitude and longitude data are first collected via GPS. Then, the collected latitude and longitude points are traversed, and the distance between the current location and the preceding and following locations is calculated one by one. If the distance is less than a preset threshold, the location is retained; otherwise, it is discarded, thus completing noise filtering. The denoised latitude and longitude data is then fitted to reduce a large amount of repetitive and slightly offset latitude and longitude data. The latitude and longitude data generated based on the denoised and fitted latitude and longitude data, along with racing data such as the highest speed, lap time, shortest lap time, and number of laps obtained during the race, are more accurate.

[0043] Figure 1 This is a flowchart illustrating the vehicle racing data processing method provided in this application embodiment. The execution subject of this embodiment can be a vehicle computer, mobile phone, or tablet computer, or other related computer devices. No particular limitation is made to this embodiment.

[0044] like Figure 1 As shown, the vehicle racing data processing method includes:

[0045] S101: Display a pre-stored track trajectory image on a preset display screen, wherein the pre-stored track trajectory image includes multiple pre-stored trajectory point data numbered sequentially.

[0046] In this embodiment, the preset display screen can be a mobile terminal used by the driver of a private vehicle or the display screen of the vehicle's onboard computer. The pre-stored track trajectory image can be a pre-drawn and saved track trajectory image, or it can be a track trajectory image drawn in real time by collecting latitude and longitude values ​​in a closed area of ​​the track. The pre-stored track trajectory image includes multiple pre-stored trajectory point data that are numbered sequentially, and each pre-stored trajectory point data includes the latitude and longitude values ​​of that pre-stored trajectory point. For example, if there are 100 trajectory points in a closed area circular track from the start to the finish line, they are numbered sequentially as follows: the start point is numbered 0, followed by 1, 2, 3, up to 100, with number 100 corresponding to the finish line of the circular track.

[0047] S102: Acquires the vehicle's location information during racing at preset unit intervals, and displays the vehicle's position and navigation information in real time on the track trajectory image based on the location information.

[0048] In this embodiment, when the vehicle is racing along the track, its position is acquired every preset unit of time. This position information can be acquired using a vehicle position acquisition device, such as a combined inertial navigation system (INS) with GPS and a vehicle computer. The preset unit of time can be a manually set time value; the smaller the value, the more position information is available, and the more accurate the racing data. For example, the preset unit of time could be 0.1 seconds or 1 second.

[0049] Specifically, in an optional embodiment of this application, step S102 includes:

[0050] S102a: Determine the real-time display coordinates of the vehicle based on the location information.

[0051] In this embodiment, the location information can be the vehicle's real-time location data and the time data when the real-time location data was collected. For example, the location information can be the vehicle's latitude and longitude values ​​and the timestamp when the latitude and longitude values ​​were collected. The vehicle's real-time displayed coordinate data represents the coordinate values ​​of the vehicle's real-time latitude and longitude mapped onto a preset coordinate system on the display screen. These coordinate values ​​can include x-axis coordinate values ​​and y-axis coordinate values.

[0052] S102b: Based on the real-time coordinate data of the vehicle, the vehicle's position and navigation information are displayed on the track trajectory image in real time.

[0053] In this embodiment, displaying the vehicle's position and navigation information in real time on the pre-stored track image means that the icon representing the vehicle is superimposed on the pre-stored track image in real time to generate navigation information, so that the driver can understand his / her specific position on the pre-stored track by observing the vehicle's icon on the navigation.

[0054] S103: Perform trajectory matching processing on the location information and pre-stored trajectory point data to generate the target trajectory point.

[0055] In this embodiment, trajectory matching processing can be a process of real-time indexing and matching of each location information with the pre-stored trajectory points in the pre-stored trajectory point data to find the pre-stored trajectory point that is closest to each location information.

[0056] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the trajectory matching process provided in an embodiment of this application. Specifically, in an optional embodiment of this application, the pre-stored trajectory point data includes multiple pre-stored trajectory points, and all location information includes R location points, where R is a positive integer. Step S103 performs trajectory matching processing on the location information and the pre-stored trajectory point data, including: performing the following steps for the r-th location point:

[0057] Determine the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th position point, where r is a positive integer less than or equal to R. If the distance between the r-th position point and the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th position point is less than a preset matching threshold, then store the number of the pre-stored trajectory point closest to the r-th position point in the pre-stored trajectory point data as an index value, and store the r-th index value and the r-th position point as the r-th target trajectory point. Figure 2 As shown, in an optional embodiment of this application, step S103 can be used for real-time trajectory matching processing, specifically including the following steps:

[0058] S103a: Obtain a location point representing the real-time position of the vehicle at preset time intervals.

[0059] S103b: For the r-th location point, perform the following steps in real time:

[0060] S103c: Determine the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th position point, where r is a positive integer greater than 0 and less than or equal to R.

[0061] In this embodiment, r being a positive integer greater than 0 and less than or equal to R means that traversal will stop only after all R location points have been traversed. The nearest pre-stored trajectory point can be the pre-stored trajectory point with the smallest distance value obtained by calculating the distance between the latitude and longitude values ​​of each pre-stored trajectory point in the pre-stored trajectory point data and the latitude and longitude values ​​of the r-th location point, sorting them, and then finding the pre-stored trajectory point with the smallest distance value.

[0062] S103d: Determine whether the distance between the r-th position point and the pre-stored trajectory point data that is closest to the r-th position point is less than a preset matching value.

[0063] In this embodiment, the preset matching threshold can be a manually set value or a value calculated by software in the vehicle's computer or mobile phone based on the vehicle speed. For example, the preset matching threshold can be 15 meters or 20 meters.

[0064] S103e: If so, store the number of the pre-stored trajectory point closest to the r-th position point in the pre-stored trajectory point data as the r-th index value; and store the r-th index value and the r-th position point as the r-th target trajectory point.

[0065] In this embodiment, the index value can be the number of the pre-stored trajectory point in the pre-stored trajectory point data after the r-th point successfully matches a pre-stored trajectory point. For example, if there are 100 pre-stored trajectory points in the pre-stored trajectory point data, and these 100 pre-stored trajectory points are numbered sequentially from 0 to 99. When r = 3, the pre-stored trajectory point with the number 5 is closest to the 3rd position point, and at this time, the index value is 5.

[0066] If not, proceed to step S103f: determine whether the race is complete.

[0067] S103g: If yes, stop trajectory matching processing. Otherwise, increment r by 1 and return to step S103a to obtain the next target trajectory point data.

[0068] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the timing point estimation process provided in the embodiments of this application.

[0069] Please refer to Figure 4 , Figure 4 This is a schematic diagram showing the area where the preset timing point matching value is located, as provided in the embodiments of this application. It should be noted that, as... Figure 4 The preset timing point ranges shown, such as 95 to 0 and 0 to 5 in the dashed box, are intended to illustrate the preset left buffer interval threshold, preset right buffer interval threshold, and preset timing point matching value in the following embodiments. In other possible embodiments, other threshold ranges may also be used, such as: the preset left buffer interval threshold is 90 to 0, the preset timing point matching value is 0, and the preset right buffer interval threshold is 0 to 10.

[0070] S104: Perform timing point estimation processing on the target trajectory points to determine the racing timing point data.

[0071] In this embodiment, the timing point can be the start of the track or the end of a race segment. For example, the timing point can be the start or midpoint of an F1 race. The timing point estimation process can be a process of matching the target trajectory point data with the index values ​​corresponding to the timing points in the pre-stored trajectory points to estimate the target trajectory points that can be used as timing points in the target trajectory point data in real time. The racing timing point data can be the time value of the vehicle passing through the timing point line of the track.

[0072] like Figure 3 As shown, based on the above embodiments, in an optional embodiment of this application, when there are a total of G target trajectory points, each target trajectory point includes a location data, a time data, and an index value, where G is a positive integer greater than 0. Accordingly, step S104 performs timing point estimation processing on the g-th target trajectory point, including:

[0073] S104a: Perform the following steps for the g-th target trajectory point to determine the time point value of the racing timing point, where g is a positive integer less than or equal to G.

[0074] S104b: Determine the index value of the g-th target trajectory point.

[0075] S104c: When the index value of the g-th target trajectory point is detected to be equal to the preset timing point matching value.

[0076] In this embodiment, the preset timing point matching value can be the number or digit of the preset trajectory point in the preset trajectory point data that can be used as a timing point during vehicle racing. The preset timing point can also be the endpoint of a race segment. For example, the preset timing point matching value is 0.

[0077] S104d: Store the time data of the g-th target trajectory point as the time value of the x-th racing timing point in the preset result area, where x is a positive integer less than or equal to g.

[0078] In this embodiment, the time data of the g-th target trajectory point can be the timestamp corresponding to the real-time location point of the g-th vehicle collected.

[0079] S104e: Clear time data in the preset left buffer and preset right buffer.

[0080] In this embodiment, the time data in the pre-stored left buffer and the preset right buffer can be the time data stored when the target trajectory points before the gth are estimated by timing.

[0081] S104f: Determine whether the time interval between the time value of the xth racing timing point and the time value of the (x-1)th racing timing point is greater than the preset interval time limit.

[0082] In this embodiment, the preset interval time limit can be a standard time interval value set by an individual. This standard time interval value can be obtained by calculating the ratio between the total distance of the pre-stored track and the maximum speed of the racing vehicle. For example, when the preset interval time limit is 10 seconds, and the interval between the second racing timing point and the first racing timing point is less than 10 seconds, it indicates that the vehicle speed is too slow and the lap has not been completed. This racing timing point value is the result of error caused by signal drift. Therefore, the second racing timing point cannot be used to determine the final vehicle racing data.

[0083] S104g: If not, delete the time point value of the xth racing timing point.

[0084] S104h: If so, determine whether the distance between the position data of the g-th target trajectory point and the position data of the target trajectory point corresponding to the time value of the (x-1)-th racing timing point is greater than the preset interval distance limit.

[0085] In this embodiment, the preset interval distance limit can be a standard distance interval value set by an individual. For example, the preset interval distance limit is 200 meters.

[0086] If not, proceed to step S104g. S104i: If yes, determine whether the preset racing conditions are being met.

[0087] In this embodiment, the preset racing condition can indicate that the vehicle is racing. The preset racing condition can be that the step of obtaining the location information of a vehicle racing once is still ongoing or that a manually set racing instruction such as "racing continues in response to manual operation" has been received. It can also be that the preset loop stop condition "g+1 is less than or equal to G" has not been met.

[0088] S104j: If yes, then no processing is performed. And proceed to step S104a.

[0089] In this implementation, "doing no processing" means that the time value of the xth racing timing point is kept in the preset result area and the process jumps to step S104a to perform timing point estimation processing on the g+1th target trajectory point.

[0090] S104k: If not, output the time point value of the racing timing point in the preset results area.

[0091] Of course, the above embodiments only describe situations where the g-th target trajectory point can be used as a timing point. However, during vehicle racing, the index value of the g-th target trajectory point may fall within a specific range of the preset timing point matching value. Therefore, further explanation is needed. Based on the above embodiments, in an optional embodiment of this application, the vehicle racing data processing method further includes:

[0092] S104l: When the index value of the g-th target trajectory point is detected to be within the preset left buffer threshold range.

[0093] S104m: Store the time data of the g-th target trajectory point into the preset left buffer and jump to step S104i.

[0094] In this embodiment, when the number of time data of target trajectory points stored in the preset left buffer is greater than 1, the time data of the target trajectory point corresponding to the index value of the closest preset timing point is retained.

[0095] Based on the above embodiments, as an optional embodiment of this application, the vehicle racing data processing method further includes:

[0096] S104n: When the index value of the g-th target trajectory point is detected to be within the preset right buffer threshold range.

[0097] like Figure 4 As shown, in this embodiment, the preset right buffer threshold range can be the numerical range to the right of the index value corresponding to the preset timing point matching value. For example, if the index value corresponding to the preset timing point matching value is 0, then the preset right buffer threshold range can be (0, 5).

[0098] S104o: Store the time data of the g-th target trajectory point into the preset right buffer.

[0099] S104p: Detects whether there is time data for the target trajectory point in the preset left buffer.

[0100] S104q: If yes, then perform a weighted average operation on the time data of the target trajectory points in the preset left buffer and the time data of the target trajectory points in the preset right buffer to obtain the time value of the xth racing timing point, where x is a positive integer less than or equal to g. Then jump to step S104e.

[0101] S104r: If not, store the time data of the target trajectory point corresponding to the index value of the preset right buffer that is closest to the preset timing point matching value as the time value of the xth racing timing point, where x is a positive integer less than or equal to g. Then jump to S104e.

[0102] Based on the above embodiments, in an optional embodiment of this application, the vehicle racing data processing method further includes:

[0103] S104s: When the index value of the g-th target trajectory point is detected to exceed the right buffer threshold range.

[0104] In this embodiment, the range exceeding the right cache threshold can be the range of values ​​to the right of the index value corresponding to the preset timing point matching value. For example... Figure 4 As shown, for example: the range of the value is (5, 15). When the index value of the second target trajectory point is 7, and the threshold of the right cache threshold range is 5, then it can be known that the second target trajectory point cannot be stored in the preset right cache area.

[0105] S104t: Determine if there is time data for the target trajectory point in the preset left buffer.

[0106] S104u: If yes, then store the time data of the target trajectory point in the preset left buffer as a racing timing point value. Then jump to step S104e.

[0107] If not, no action is taken, and the process proceeds directly to step S104e.

[0108] In addition, based on the above embodiments, as an optional embodiment of this application, the provided in-car racing data processing method further includes: step S104v: when the index value of the g-th target trajectory point is detected to exceed the left buffer threshold range, no processing is performed on the g-th target trajectory point, and the process jumps to step S104i.

[0109] In this embodiment, the index value exceeding the left cache threshold range can be the range of values ​​to the left of the index value corresponding to the preset timing point matching value. For example... Figure 4 As shown, for example, the value range is (15, 95). When the index value of the 21st target trajectory point is 17, and the threshold of the right buffer threshold range is 5, it can be known that the 21st target trajectory point cannot be stored in the preset right buffer. At this time, step S104i needs to be executed.

[0110] As can be seen from the above embodiments, once the race is completed and all the race timing point values ​​are determined, the process of determining the race data can begin.

[0111] S105: Output the vehicle's racing data based on all racing timing point data and all target trajectory point data.

[0112] In this embodiment, the racing timing point data may include at least two racing timing point time values, and the target trajectory point data may include multiple target trajectory points. For example, by calculating the difference between the latitude and longitude between two target trajectory points, the distance value can be obtained. Then, based on the distance value and the two racing timing point time values, the vehicle's racing data such as lap time, maximum speed, shortest lap time, and number of laps can be obtained.

[0113] In summary, the vehicle racing data processing method provided in this application acquires the vehicle's location information at preset time intervals, then displays the vehicle's position and navigation information in real time on a pre-stored track trajectory image based on the location information. The method also performs trajectory matching processing on the acquired location information and pre-stored trajectory point data to generate target trajectory point data. Next, timing point estimation processing is performed on the target trajectory points to determine the racing timing point data. Finally, based on the racing timing point data and all target trajectory point data, the vehicle's racing data is output. This application reduces the deviation between the racing timing point data and the actual racing timing point data by using trajectory matching processing and timing point estimation processing, thereby improving the accuracy of the final vehicle racing data.

[0114] Based on the above embodiments, in an optional embodiment of this application, step S102a, which involves displaying the vehicle's position and navigation information in real time on a pre-stored track trajectory image according to the vehicle's real-time display coordinate data, includes:

[0115] Step a1: Based on the real-time coordinate data displayed by the vehicle, determine the estimated distance every preset estimation time.

[0116] Step a2: Display the vehicle's position and navigation information in real time on the pre-stored track map according to the estimated distance at the preset refresh frequency.

[0117] In this embodiment, the preset estimation time can be set according to a time value that is imperceptible to the human eye, for example, the preset estimation time can be 60 milliseconds. In this embodiment, the estimated distance can be obtained by the inertial navigation system based on the real-time positions of two adjacent vehicles.

[0118] Specifically, in an optional embodiment of this application, the real-time vehicle coordinate display data includes multiple vehicle coordinate points corresponding to a unit time and the vehicle speed corresponding to each unit time point. Accordingly, the calculation formula for step S106b1 is:

[0119] ED=ED′+V×Δt

[0120] In the formula, ED is the distance between the vehicle coordinate point corresponding to the current unit time and the vehicle coordinate point corresponding to the first unit time, ED′ is the distance between the vehicle coordinate point corresponding to the previous unit time and the vehicle coordinate point corresponding to the first unit time, V is the vehicle speed corresponding to the current unit time, and Δt is the preset estimated time.

[0121] For example, in an optional embodiment of this application, the preset estimated time can be 60 milliseconds, which is generally difficult for the naked eye to perceive flicker, or it can be a value less than 60 milliseconds, such as 40 milliseconds, the limit time for the naked eye to perceive flicker, or 16.7 milliseconds, which corresponds to a screen refresh rate of 60 Hz.

[0122] In summary, in this embodiment of the application, by mapping the vehicle location points onto the map and refreshing and mapping them according to a preset estimated time, the real-time display of the vehicle's location and navigation information on the pre-stored track trajectory map based on the estimated distance and the preset refresh frequency is more accurate and less prone to screen flickering.

[0123] Based on the above embodiments, in an optional embodiment of the application, a vehicle racing data processing method is also provided, which differs from the above embodiments in that, after step S105, the method further includes:

[0124] Step A: In response to the preset track sharing operation, push the vehicle's racing data and pre-stored track trajectory images to at least one target platform.

[0125] In this embodiment, the preset track sharing operation can be an operation performed based on human gestures. For example, the user can perform operations such as editing and supplementing relevant information of the pre-saved track, which may include the track's location, length, number of curves, etc. The edited pre-saved track information is then uploaded to the track platform.

[0126] In this embodiment, the target platform can be a platform that can display web page information or audio-visual information, such as a track server management platform, social platform or website.

[0127] In an optional embodiment of this application, different target platforms can upload and download data to each other and interact. This data can be racing data such as lap times and lap speeds. In this embodiment, the preset real-time component team operation can be a gesture-based operation. For example, other users can select a track for racing on the track server management platform described in the above embodiment, and like and comment on the playability and competitiveness of the pre-stored track, forming a track hot list. They can also share the racing data generated while racing on the pre-stored track to social media platforms for other users to like and comment on. Alternatively, the racing data between different users can be ranked according to certain rules to form a racing leaderboard.

[0128] Based on the above embodiments, the vehicle racing data processing method provided as an optional embodiment of this application differs from the above embodiments in that, after step S107, the method further includes:

[0129] Step B: In response to the preset real-time fleet formation operation, acquire real-time location data of multiple vehicles.

[0130] Step C: Determine the real-time vehicle image data based on the real-time location data of multiple vehicles and the pre-stored track trajectory images.

[0131] In this embodiment, the preset real-time fleet formation operation can be performed by multiple users creating or forming a fleet through the target platform described in the above embodiment, obtaining real-time location data of multiple vehicles so that fleet members can see the real-time vehicle location of each member on the map, thereby determining the real-time fleet image data.

[0132] Based on the above embodiments, in an optional embodiment of this application, after step C, the following step is further included:

[0133] Step D: Obtain interaction data.

[0134] Step E: Display and / or play the interactive data.

[0135] Step F: In response to the reply operation, obtain the reply data and push the reply data to at least one target platform.

[0136] In this embodiment, the interactive data can be information exchanged between members of the fleet in real time, which can be voice, video, or text information. Communication between members is achieved by displaying, playing, or simultaneously displaying and playing the interactive data. Pushing to at least one target platform means that when members use different social media platforms, multiple platforms need to be pushed. When the target platform is the same, pushing to only one target platform is sufficient.

[0137] In summary, the vehicle racing data processing method provided in this application establishes a real-time convoy to acquire real-time location data of multiple vehicles. Based on this real-time location data and pre-stored track trajectory images, real-time convoy image data is determined. This allows any member of the convoy to observe the positions of other members during a race and adjust the convoy racing strategy in real-time through interactive data to obtain better convoy racing data. Furthermore, it facilitates communication among convoy members while maintaining safe driving conditions.

[0138] Figure 5 Schematic diagram of the vehicle racing data processing device provided in the embodiments of this application Figure 1 .like Figure 5 As shown, the device includes: a track display module 51, a real-time inertial navigation module 52, a trajectory matching module 53, and a data analysis module 54.

[0139] The track display module 51 is used to display a pre-stored track trajectory image on a preset display screen, wherein the pre-stored track trajectory image includes multiple pre-stored trajectory point data numbered in sequence;

[0140] The real-time inertial navigation module 52 is used to acquire the vehicle's position information during racing once every preset unit time, and display the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the position information.

[0141] The trajectory matching module 53 is used to perform trajectory matching processing on the location information and the pre-stored trajectory point data to generate the target trajectory point;

[0142] Data analysis module 54 is used to perform timing point estimation processing on the target trajectory point data to determine the racing timing point data;

[0143] The data analysis module 54 is also used to output vehicle racing data based on racing timing point data and target trajectory point data.

[0144] In an optional embodiment of this application, the pre-stored trajectory point data includes multiple pre-stored trajectory points, and all position information includes R position points, where R is a positive integer. Correspondingly, the trajectory matching module 53 is specifically used to perform the following steps for the r-th position point: determine the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th position point, where r is a positive integer greater than 0 and less than or equal to R. If it is determined that the distance between the r-th position point and the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th position point is less than a preset matching threshold, then the r-th position point is stored as a target trajectory point, and the number of the pre-stored trajectory point closest to the r-th position point in the pre-stored trajectory point data is stored as an index value; a target trajectory point and an index value are stored as target trajectory point data. In an optional embodiment of this application, when there are a total of G target trajectory points, each target trajectory point includes a position data, a time data, and an index value, where G is a positive integer greater than 0, and the racing timing point data includes multiple racing timing point time values. Accordingly, the data analysis module 54 is specifically used for:

[0145] For the g-th target trajectory point, perform the following steps to determine the racing timing point data, where g is a positive integer less than or equal to G:

[0146] Determine the index value of the g-th target trajectory point;

[0147] When the index value of the g-th target trajectory point is detected to be equal to the preset timing point matching value, the time data of the g-th target trajectory point is stored in the preset result area as the time point value of the x-th racing timing point, where x is a positive integer less than or equal to g;

[0148] Clear the time data in the preset left buffer and preset right buffer;

[0149] If it is determined that the time interval between the time value of the xth racing timing point and the time value of the (x-1)th racing timing point is greater than the preset interval time limit, then it is determined whether the distance between the position data of the gth target trajectory point and the position data of the target trajectory point corresponding to the time value of the (x-1)th racing timing point is greater than the preset interval distance limit.

[0150] If so, check if a race is in progress;

[0151] If a race is detected, the race timing point value in the preset results area will be output.

[0152] In an optional embodiment of this application, the real-time inertial navigation module 52 is specifically used to: determine the real-time display coordinate data of the vehicle based on the location information; and display the vehicle's position and navigation information in real time on a pre-stored track trajectory image based on the real-time display coordinate data of the vehicle.

[0153] In an optional embodiment of this application, the real-time inertial navigation module 52 is further specifically used to: determine an estimated distance every preset estimation time based on the vehicle's real-time displayed coordinate data; and display the vehicle's position and navigation information in real-time on a pre-stored track trajectory map according to the estimated distance at a preset refresh frequency.

[0154] In an optional embodiment of this application, the real-time vehicle coordinate data includes multiple vehicle coordinate points corresponding to a unit time and the vehicle speed corresponding to each unit time point. Accordingly, the real-time inertial navigation module 52 is used to: determine the estimated distance every preset estimation time interval, and the calculation formula is:

[0155] ED=ED′+V×Δt

[0156] In the formula, ED is the distance between the vehicle coordinate point corresponding to the current unit time and the vehicle coordinate point corresponding to the first unit time, ED′ is the distance between the vehicle coordinate point corresponding to the previous unit time and the vehicle coordinate point corresponding to the first unit time, V is the vehicle speed corresponding to the current unit time, and Δt is the preset estimated time.

[0157] Please refer to Figure 6 , Figure 6 Schematic diagram of the results of the vehicle racing data processing device provided in the embodiments of this application Figure 2 . Figure 6 The vehicle racing data processing device shown is Figure 5 The difference in the vehicle racing data processing device shown is that... Figure 6 The device shown also includes a track social module 55, which is used to push vehicle racing data and pre-stored track trajectory images to at least one target platform in response to a preset track sharing operation.

[0158] In an optional embodiment of this application, the track social module 55 is further configured to: acquire real-time location data of multiple vehicles in response to a preset real-time team formation operation; and determine real-time team image data based on the real-time location data of the multiple vehicles and pre-stored track trajectory images.

[0159] In an optional embodiment of this application, the track social module 55 is further configured to: acquire interaction data; display and / or play the interaction data; and, in response to a reply operation, acquire reply data and push the reply data to at least one target platform.

[0160] The vehicle racing data processing device provided in this embodiment can be used to execute the technical solutions of the above method embodiments. Its implementation principle and technical effects are similar, and will not be described again here.

[0161] Figure 7 This is a schematic diagram of the hardware structure of the vehicle racing data processing system provided in the embodiments of this application, such as... Figure 7 As shown, the system includes: a locator 701 and a server 702.

[0162] The locator 701 is installed at a designated location on the vehicle and contains a positioning module for real-time collection of the vehicle's location information.

[0163] Server 702 includes: at least one processor 7021 and a memory 7022; the memory 7022 stores computer-executable instructions; at least one processor 7021 executes the computer-executable instructions stored in the memory 7022 to implement the various steps involved in the above method embodiments. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0164] Optionally, the memory 7022 can be either standalone or integrated with the processor 7021.

[0165] When the memory 7022 is set up independently, the system also includes a bus 7023 for connecting the memory 7022 and the processor 7021.

[0166] This application also provides a computer-readable storage medium storing computer-executable instructions. When a processor executes the computer-executable instructions, the above-described vehicle racing data processing method is implemented.

[0167] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle racing data processing method described above.

[0168] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or modules, and may be electrical, mechanical, or other forms.

[0169] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0170] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0171] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute partial steps of the methods of the various embodiments of this application.

[0172] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0173] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0174] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0175] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0176] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0177] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0178] This description is intended to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for processing vehicle racing data, characterized in that, include: A pre-stored track trajectory image is displayed on a preset display screen, wherein the pre-stored track trajectory image includes multiple pre-stored trajectory point data numbered sequentially; The vehicle's location information during racing is acquired every preset unit of time, and the vehicle's location and navigation information are displayed in real time on the pre-stored track trajectory image based on the location information. The location information and the pre-stored trajectory point data are subjected to trajectory matching processing to generate target trajectory points. When there are a total of G target trajectory points, each target trajectory point includes a location data, a time data and an index value, where G is a positive integer greater than 0. For the g-th target trajectory point, the following steps are performed to determine the racing timing point data, where g is a positive integer less than or equal to G: The index value of the g-th target trajectory point is judged; when the index value of the g-th target trajectory point is detected to be equal to a preset timing point matching value, the time data of the g-th target trajectory point is stored as the time value of the x-th racing timing point in a preset result area, where x is a positive integer less than or equal to g; the time data in the preset left buffer and preset right buffer are cleared; if it is determined that the interval between the time value of the x-th racing timing point and the time value of the (x-1)-th racing timing point is greater than a preset interval time limit, then it is determined whether the distance between the position data of the g-th target trajectory point and the position data of the target trajectory point corresponding to the time value of the (x-1)-th racing timing point is greater than a preset interval distance limit; if so, it is detected whether a race is in progress; if a race is in progress, the racing timing point time value in the preset result area is output. Based on all racing timing point data and all target trajectory point data, output the vehicle's racing data.

2. The method according to claim 1, characterized in that, The pre-stored trajectory point data includes multiple pre-stored trajectory points, and all position information includes R position points, where R is a positive integer; Accordingly, the location information and the pre-stored trajectory point data are subjected to trajectory matching processing, including: For the r-th position, perform the following steps: Determine the pre-stored trajectory point in the pre-stored trajectory point data that is closest to the r-th position point, where r is a positive integer less than or equal to R; If it is determined that the distance between the r-th position point and the pre-stored trajectory point data that is closest to the r-th position point is less than a preset matching threshold, then the number of the pre-stored trajectory point that is closest to the r-th position point in the pre-stored trajectory point data is stored as the r-th index value. Store the r-th index value and the r-th position point as the r-th target trajectory point.

3. The method according to claim 1, characterized in that, The step of displaying the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the position information includes: Based on the location information, determine the vehicle's real-time display coordinate data; Based on the real-time coordinate data of the vehicle, the vehicle's position and navigation information are displayed in real time on the pre-stored track trajectory image.

4. The method according to claim 3, characterized in that, The step of displaying the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the vehicle's real-time coordinate data includes: Based on the real-time coordinate data displayed by the vehicle, the estimated distance is determined every preset estimation time. The vehicle's position and navigation information are displayed in real time on the pre-stored track map according to the estimated distance at a preset refresh frequency.

5. The method according to claim 4, characterized in that, The real-time vehicle coordinate data includes multiple vehicle coordinate points corresponding to a unit of time and the vehicle speed corresponding to each unit of time. Accordingly, the calculation formula for determining the estimated distance every preset estimation time based on the real-time displayed coordinate data of the vehicle is as follows: In the formula, ED is the distance between the vehicle coordinate point corresponding to the current unit time and the vehicle coordinate point corresponding to the first unit time. This represents the distance between the vehicle coordinates corresponding to the previous unit of time and the vehicle coordinates corresponding to the first unit of time. This represents the vehicle speed corresponding to the current unit of time. This is the preset estimated time.

6. The method according to claim 1, characterized in that, After outputting the vehicle's racing data based on all racing timing point data and all target trajectory point data, the process also includes: In response to the preset track sharing operation, the vehicle's racing data and the pre-stored track trajectory image are pushed to at least one target platform.

7. The method according to any one of claims 1 to 6, characterized in that, After outputting the vehicle's racing data based on all racing timing point data and all target trajectory point data, the process also includes: In response to the preset real-time fleet formation operation, it acquires real-time location data of multiple vehicles. Real-time vehicle image data is determined based on the real-time location data of multiple vehicles and the pre-stored track trajectory images.

8. The method according to claim 7, characterized in that, After determining the real-time vehicle fleet image data, the process also includes: Obtain interaction data; The interactive data is displayed and / or played. In response to a reply operation, the reply data is obtained and the reply data is pushed to at least one target platform.

9. A vehicle racing data processing device, characterized in that, include: The track display module is used to display a pre-stored track trajectory image on a preset display screen, wherein the pre-stored track trajectory image includes multiple pre-stored trajectory point data numbered sequentially. The real-time inertial navigation module is used to acquire the vehicle's position information during racing at preset unit time intervals, and display the vehicle's position and navigation information in real time on the pre-stored track trajectory image based on the position information. The trajectory matching module is used to perform trajectory matching processing on the location information and the pre-stored trajectory point data to generate target trajectory points. When there are a total of G target trajectory points, each target trajectory point includes a location data, a time data and an index value, where G is a positive integer greater than 0. The data analysis module performs the following steps for the g-th target trajectory point to determine the racing timing point data, where g is a positive integer less than or equal to G: The index value of the g-th target trajectory point is judged; when the index value of the g-th target trajectory point is detected to be equal to a preset timing point matching value, the time data of the g-th target trajectory point is stored as the time value of the x-th racing timing point in a preset result area, where x is a positive integer less than or equal to g; the time data in the preset left buffer and preset right buffer are cleared; if it is determined that the interval between the time value of the x-th racing timing point and the time value of the (x-1)-th racing timing point is greater than a preset interval time limit, then it is determined whether the distance between the position data of the g-th target trajectory point and the position data of the target trajectory point corresponding to the time value of the (x-1)-th racing timing point is greater than a preset interval distance limit; if so, it is detected whether a race is in progress; if a race is in progress, the racing timing point time value in the preset result area is output. The data analysis module is also used to output vehicle racing data based on all racing timing point data and all target trajectory point data.

10. A vehicle racing data processing system, characterized in that, include: Locators and servers; The locator is installed at a designated location on the vehicle, and the locator contains a positioning module for collecting the vehicle's latitude and longitude data. The server includes: at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to perform the vehicle racing data processing method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the vehicle racing data processing method as described in any one of claims 1 to 8.

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