Trajectory determination method and device, vehicle and storage medium

Abstract

The application discloses a kind of track determination method, device, vehicle and readable storage medium, method includes: in the process of vehicle driving, the target tire parameter corresponding to the target tire of vehicle is acquired;Target tire parameter includes the unit wheel speed pulse value corresponding to target tire;The acquisition method of unit wheel speed pulse value includes: according to the mileage of target tire in each first time period, the initial unit wheel speed pulse value of target tire in each first time period is determined;The initial unit wheel speed pulse value of target tire in multiple first time periods is averaged, and the average unit wheel speed pulse value corresponding to target tire is obtained;If the absolute value of the difference between average unit wheel speed pulse value and existing unit wheel speed pulse value is greater than unit wheel speed pulse threshold value, average unit wheel speed pulse value is obtained as unit wheel speed pulse value;The vehicle track in the process of vehicle driving is determined according to target tire parameter.The accuracy of vehicle track obtained by the method of the application is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and more particularly, to a track determination method and device, a vehicle, and a computer readable storage medium. BACKGROUND

[0002] In the field of intelligent driving, a technician configures tire parameters for installed tires, and during vehicle driving, the vehicle estimates a track of the vehicle according to inertial navigation information and the tire parameters, so as to automatically drive or automatically park the vehicle according to the estimated track.

[0003] However, when the tires of the vehicle are worn or replaced, the originally configured tire parameters do not match the tires of the vehicle, resulting in low accuracy of the configured tire parameters and low accuracy of the estimated track of the vehicle. SUMMARY

[0004] The present application provides a track determination method and device, a vehicle, and a computer readable storage medium to improve the above-mentioned defects.

[0005] In a first aspect, an embodiment of the present application provides a track determination method, which includes:

[0006] During vehicle driving, a target tire parameter corresponding to a target tire of the vehicle is obtained; the target tire parameter includes a unit wheel speed pulse value corresponding to the target tire; the unit wheel speed pulse value is obtained by: determining an initial unit wheel speed pulse value of the target tire in each first time period according to a mileage of the target tire in each first time period; averaging the initial unit wheel speed pulse values of the target tire in multiple first time periods to obtain an average unit wheel speed pulse value corresponding to the target tire; and obtaining the average unit wheel speed pulse value as the unit wheel speed pulse value if an absolute value of a difference between the average unit wheel speed pulse value and an existing unit wheel speed pulse value is greater than a unit wheel speed pulse threshold value.

[0007] The target tire parameter is used to determine a track of the vehicle during vehicle driving.

[0008] In a second aspect, an embodiment of the present application further provides a track determination device, which includes:

[0009] The acquisition module is configured to acquire a target tire parameter corresponding to a target tire of the vehicle during driving of the vehicle, and the target tire parameter comprises a unit wheel speed pulse value corresponding to the target tire.

[0010] The determination module is configured to determine a vehicle track during driving of the vehicle according to the target tire parameter.

[0011] In a third aspect, an embodiment of the present application further provides a vehicle, which comprises: one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method described above.

[0012] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores program code executable by a processor, and the program code, when executed by the processor, causes the processor to execute the method described above.

[0013] The method and device for determining a track, the vehicle, and the computer-readable storage medium provided in the present application, in which the unit wheel speed pulse value of the target tire is adjusted according to the driving condition of the vehicle in each first time period, the unit wheel speed pulse threshold value is related to the driving condition of the vehicle in the first time period, the determined unit wheel speed pulse value is more consistent with the actual condition of the target tire of the vehicle, and the accuracy of the unit wheel speed pulse value is higher, thereby effectively reducing the situation that the determined vehicle track is inaccurate due to the fact that the fixed existing unit wheel speed pulse value is not matched with the actual condition of the target tire of the vehicle and the accuracy of the existing unit wheel speed pulse value is lower, and improving the accuracy of the determined vehicle track.

[0014] Other features and advantages of the embodiments of the present application will be described in the following description, and will become apparent from the description, or will be understood from the practice of the embodiments of the present application. The purposes and other advantages of the embodiments of the present application can be achieved and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application, and all other embodiments obtained by those skilled in the art without creative effort based on these accompanying drawings also belong to the protection scope of the present application.

[0016] Figure 1 A schematic diagram of a vehicle hardware environment suitable for the embodiments of the present application is shown.

[0017] Figure 2 A flow chart of a track determination method according to one embodiment of the present application is shown.

[0018] Figure 3 A flow chart of a track determination method according to one embodiment of the present application is shown. Figure 2 A flow chart of steps before step S101 in the corresponding embodiment is shown.

[0019] Figure 4 A schematic diagram of a determination process of a unit wheel speed pulse value in the embodiments of the present application is shown.

[0020] Figure 5 A schematic diagram of a determination process of a pulse delay parameter in the embodiments of the present application is shown.

[0021] Figure 6 A structure block diagram of a track determination device according to one embodiment of the present application is shown. DETAILED DESCRIPTION

[0022] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application, and all other embodiments obtained by those skilled in the art without creative effort based on these accompanying drawings also belong to the protection scope of the present application.

[0023] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, thus, once an item is defined in one drawing, it does not need to be further defined and explained in the following drawings. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0024] ReferenceFigure 1 , Figure 1 A schematic diagram of a vehicle hardware environment suitable for embodiments of the present application is shown. The vehicle 100 comprises an autonomous driving system 110 which can incorporate a plurality of autonomous driving functions. The autonomous driving system 110 controls the vehicle to autonomously drive according to the incorporated autonomous driving functions. The autonomous driving functions can include, for example, an automatic lane changing function and an automatic parking function.

[0025] The autonomous driving system 110 can comprise an on-board acquisition device 111, one or more (only one is shown in the figure) processors 112, and a memory 113. The on-board acquisition device 111 can comprise an inertial navigation unit (imu), and other acquisition devices can comprise an image sensor (e.g., a camera), a radar, a Global Positioning System (GPS), a Real-time kinematic (RTK), etc.

[0026] The on-board acquisition device 111 is configured to acquire data required for autonomous driving during driving of the vehicle. For example, the radar is configured to acquire point cloud data around the vehicle, and for example, the image sensor is configured to acquire images around the vehicle, and the GPS is configured to acquire positioning data of the vehicle.

[0027] The processor 112 can be a micro control unit (MCU) which incorporates the memory 113. The memory 113 stores programs which can implement the contents of the embodiments described below, and the processor 112 can execute the programs stored in the memory 113.

[0028] The processor 112 can comprise one or more processors. The processor 112 is configured to splice various parts in the vehicle 100 by various interfaces and lines, to execute various functions of the vehicle 10 and process data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and to call data stored in the memory 113.

[0029] The memory 113 can comprise a random access memory (RAM) and can also comprise a read-only memory (ROM). The memory 113 can be configured to store instructions, programs, codes, code sets or instruction sets. The memory 113 can comprise a program storage area and a data storage area. The program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, etc.

[0030] Please refer to Figure 2 , Figure 2A flow chart of a method for determining a trajectory of a vehicle is shown, the method comprising:

[0031] S101, during driving of the vehicle, obtaining a target tire parameter corresponding to a target tire of the vehicle.

[0032] The target tire parameter includes a unit wheel speed pulse value corresponding to the target tire. The unit wheel speed pulse value is obtained by determining an initial unit wheel speed pulse value of the target tire in each first time period based on a mileage of the target tire in each first time period, averaging the initial unit wheel speed pulse values of the target tire in a plurality of first time periods to obtain an average unit wheel speed pulse value corresponding to the target tire, and obtaining the average unit wheel speed pulse value as the unit wheel speed pulse value if an absolute value of a difference between the average unit wheel speed pulse value and an existing unit wheel speed pulse value is greater than a unit wheel speed pulse threshold. The pose of the vehicle in the first time period satisfies a target pose condition, the number of received satellites corresponding to a navigation system of the vehicle reaches a preset satellite number, the speed of the vehicle does not exceed a target speed, and the change range of the heading of the vehicle does not exceed a range threshold. The unit wheel speed pulse value refers to the distance traveled by the vehicle when the target tire rotates one revolution.

[0033] The vehicle can be an electric vehicle or a fuel vehicle, and can be a car, an SUV, a bus, a truck, or the like. The target tire of the vehicle referred to in the present application can refer to a tire parameter corresponding to a tire used for trajectory estimation in the vehicle, which can be any tire in the vehicle or a specified plurality of tires. For example, the target tire in S110 can refer to the left front tire and the right front tire, and for example, the target tire in S110 can refer to the left rear tire and the right rear tire.

[0034] In the present embodiment, the duration of the first time period can be set based on requirements, and the first time period can include a plurality of time points, each time point serving as a first collection time point. The position information of the vehicle is collected by the navigation system (e.g., GPS) of the vehicle at each time point, and the position standard deviation of the vehicle is determined based on the position information at each first collection time point in the first time period. The first time period can be a time period of 100 seconds, and the interval between adjacent first collection time points can be 0.02 seconds.

[0035] In the present application, the target pose condition can include that the attitude standard deviation of the vehicle is not greater than a standard deviation threshold. The attitude standard deviation can include a standard deviation X std in the x-axis direction of the vehicle in the world coordinate system, a standard deviation Y std in the y-axis direction of the vehicle in the world coordinate system, a heading angle standard deviation Heading std and a pitch angle standard deviation Pitch std , that is: Ystd ≤Y std_c , Heading std ≤HHeading std_c and Pitch std ≤Picth std_c , wherein X std_c is a standard deviation threshold of x-axis direction in a world coordinate system, Y std_c is a standard deviation threshold of y-axis direction in the world coordinate system, Heading std_c is a standard deviation threshold of heading angle, and Picth std_c is a standard deviation threshold of pitch angle. X std_c , Y std_c , HHeading std_c , and Picth std_c may be values set based on requirements, which are not limited in the present application.

[0036] In the embodiment, the first time period can include a plurality of time points, each time point serving as a first collection time point. The navigation system (e.g., including a GPS and an inertial navigation unit) of the vehicle collects position information and attitude information of the vehicle at each time point. The attitude standard deviation of the vehicle is determined according to the position information and the attitude information at each first collection time point in the first time period. The first time period can be a time period of 100 seconds, and the interval between adjacent first collection time points can be 0.02 seconds.

[0037] It can be understood that the standard deviation threshold is related to the interval between adjacent first collection time points. Generally, the larger the interval between adjacent first collection time points, the larger the standard deviation threshold, and the smaller the interval between adjacent first collection time points, the smaller the standard deviation threshold. For example, when the interval between adjacent first collection time points is 0.02 seconds, X std_c may be 0.05 m, Y std_c may be 0.05 m, Heading std_c may be 0.04 rad, and Picth std_c may be 0.02 rad.

[0038] In the driving process of the vehicle, the navigation system of the vehicle uses received satellites to perform positioning of the vehicle. However, the number of received satellites participating in the positioning of the vehicle can change in the driving process of the vehicle. For example, the number of received satellites participating in the positioning of the vehicle is 100 at a certain time point, and for another example, the number of received satellites participating in the positioning of the vehicle is 20 at another time point.

[0039] For each time point, the number of received satellites at the time point is determined. For each first collection time point in the first time period, the number of received satellites at the first collection time point is not less than a preset satellite number threshold. The preset satellite number threshold can be a value set based on requirements. For example, the preset satellite number threshold is 30.

[0040] The target vehicle speed can be a value set based on requirements. For example, the target vehicle speed Vehspd c = 2 m / s. In the first time period, the vehicle speed of the vehicle at each first collection time point is less than the target vehicle speed.

[0041] In this application, the heading angle of the vehicle at each first collection time point in the first time period can be determined, and then the difference between the maximum heading angle and the minimum heading angle is determined as the heading change range of the vehicle in the first time period, that is, the heading change range of the vehicle in the first time period is: (max(Heading1, …, Heading T1 )―min(Heading1, …, Heading T1 )), where Heading i is the heading angle at the i-th first collection time point, and T1 is the number of first collection time points in the first time period (which is determined based on the length of the first time period and the interval between adjacent first collection time points. For example, the first time period is 100 s, and the interval between adjacent first collection time points is 0.02 s, then T1 is 5000)

[0042] In the first time period, the heading change range of the vehicle is less than a range threshold. The range threshold can be set based on requirements. For example, the range threshold Heading c is 0.04 rad.

[0043] In this embodiment, when the vehicle is in a fixed solution state (that is, the navigation system of the vehicle has locked enough satellite signals, and the quality of these signals is very good, so that the navigation system of the vehicle can provide very high precision position information), for each time point in the driving process (the interval between adjacent time points can be a value set based on requirements, for example, the interval between adjacent time points is 0.02 s), the pose of the vehicle, the number of received satellites corresponding to the navigation system, and the vehicle speed are collected. At a certain time point, the pose of the vehicle satisfies the target pose condition (that is, X std ≤ X std_c , Y std ≤ Y std_c , Heading std ≤ HHeading std_c , Pitch std ≤ Picthstd_c ), the number of received satellites corresponding to the navigation system of the vehicle reaches a preset number of satellites, and the vehicle speed does not exceed a target vehicle speed (Vehspd (vehicle speed) < Vehspd c ), the time point is determined as a first starting time point.

[0044] At this time, the first starting time point can be taken as a starting moment of a time period. For each time point after the first starting time point, if the pose of the vehicle at the time point satisfies the target pose condition, the number of received satellites corresponding to the navigation system of the vehicle reaches a preset number of satellites, and the vehicle speed does not exceed a target vehicle speed, and the heading change range corresponding to all time points involved between the first starting time point and the time point is not greater than a range threshold, the time period continues to be timed until the length of the time period reaches a first length (that is, the length required by the first time period described above), the timing is ended, and the time period is determined as a first time period, and each time point in the first time period is determined as a first collection time point. If for any time point after the first starting time point, if the pose of the vehicle at the time point does not satisfy the target pose condition, the number of received satellites corresponding to the navigation system of the vehicle does not reach a preset number of satellites, the vehicle speed exceeds a target vehicle speed, or the heading change range corresponding to all time points involved between the first starting time point and the time point is greater than a range threshold, the time point is taken as an ending moment of the time period, and if the length of the time period does not reach the first length, the time period is discarded, and the first time period is determined again according to the foregoing process.

[0045] Generally, the interval between two adjacent time points is fixed, so the number of time points can be counted from the first starting time point as a starting point, and whether the length of the time period reaches the first length is determined according to the number of counted time points.

[0046] In this application, a plurality of first time periods can be determined according to the foregoing process, and then the mileage of the target tire in each first time period is determined, and the initial unit wheel speed pulse value of the target tire in each first time period is determined according to the mileage of the target tire in each first time period.

[0047] Optionally, in the present application, the navigation coordinates of the vehicle at each first collection time point within the first target time period can be projected on the target projection plane to obtain the planar projection coordinates of the vehicle at each first collection time point within the first target time period; the first target time period is any one of the plurality of first time periods; the navigation coordinates of the first collection time point are determined based on the navigation data of the navigation system at the first collection time point; and the driving distance of the vehicle on the target projection plane within the first target time period is determined as the mileage of the target tire within the first target time period according to the planar projection coordinates of the vehicle at each first collection time point within the first target time period. The navigation system here is the aforementioned integrated navigation system.

[0048] That is, for each first collection time point within each first target time period, the vehicle is positioned by the navigation system of the vehicle to obtain the world coordinates of the vehicle in the world coordinate system at the first collection time point as the navigation coordinates of the vehicle at the first collection time point.

[0049] The target projection plane can refer to the plane on which the vehicle travels, and generally, the z-axis coordinate in the navigation coordinates of the vehicle at the first collection time point can be removed to obtain the two-dimensional coordinates of the vehicle at the first collection time point as the planar projection coordinates of the vehicle at the first collection time point.

[0050] Then, the driving distance of the vehicle on the target projection plane within the first target time period can be determined as the mileage of the target tire within the first target time period according to the planar projection coordinates of the vehicle at each first collection time point within the first target time period based on Formula One, and Formula One is as follows:

[0051]

[0052] wherein s is the mileage of the target tire within the first target time period, (X i , Y i ) is the planar projection coordinates of the vehicle at the i-th first collection time point.

[0053] After obtaining the mileage of the target tire within each first time period, the initial unit wheel speed pulse value of the target tire within each first time period can be determined according to the mileage of the target tire within each first time period.

[0054] Optionally, in the present application, the initial unit wheel speed pulse value of the target tire within the first target time period can be determined based on the ratio of the mileage of the target tire within the first target time period to the wheel speed pulse cumulative value of the target tire within the first target time period.

[0055] That is, the wheel speed pulse cumulative value of the target tire of the vehicle can also be accumulated in each first time period, and for any one first time period, the ratio of the wheel speed pulse cumulative value of the target tire in the first time period is calculated as the initial unit wheel speed pulse value of the target tire in the first time period.

[0056] For example, if the target tire is the left and right wheels (left and right rear wheels, or left and right front wheels) of the vehicle, the calculation process of the initial unit wheel speed pulse value of the target tire in the first time period is as follows: pulse r = S / N r , pulse l = S / N l , pulse r is the initial unit wheel speed pulse value of the right wheel in the first time period, pulse l is the initial unit wheel speed pulse value of the left wheel in the first time period, N r is the wheel speed pulse cumulative value of the right wheel in the first time period, and N l is the wheel speed pulse cumulative value of the left wheel in the first time period.

[0057] After obtaining the initial unit wheel speed pulse value of the target tire in each first time period, the initial unit wheel speed pulse values of the target tire in multiple first time periods can be averaged to obtain the average unit wheel speed pulse value corresponding to the target tire; if the absolute value of the difference between the average unit wheel speed pulse value and the existing unit wheel speed pulse value is greater than the unit wheel speed pulse threshold value, the average unit wheel speed pulse value is directly obtained as the unit wheel speed pulse value; wherein the unit wheel speed pulse threshold value can be a value set based on demand, for example, the unit wheel speed pulse threshold value is 0.0001m.

[0058] It is worth mentioning that in some embodiments, the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value can also be determined in the entire first time period, and if the difference between the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value does not exceed the pulse difference threshold value (the pulse difference threshold value can be set based on requirements, for example, the pulse difference threshold value is 0.0001m), the initial unit wheel speed pulse value accuracy in each first time period is high, at this time, the initial unit wheel speed pulse values of the target tire in multiple first time periods are averaged to obtain the average unit wheel speed pulse value corresponding to the target tire; if the absolute value of the difference between the average unit wheel speed pulse value and the existing unit wheel speed pulse value is greater than the unit wheel speed pulse threshold value, it indicates that the difference between the average unit wheel speed pulse value and the existing unit wheel speed pulse value is too large, and the existing unit wheel speed pulse value is inaccurate, at this time, the average unit wheel speed pulse value is directly obtained as the unit wheel speed pulse value to replace the existing unit wheel speed pulse value. If the absolute value of the difference between the average unit wheel speed pulse value and the existing unit wheel speed pulse value is not greater than the unit wheel speed pulse threshold value, it indicates that the difference between the average unit wheel speed pulse value and the existing unit wheel speed pulse value is not large, and the existing unit wheel speed pulse value is accurate, and the existing unit wheel speed pulse value can continue to be used.

[0059] If the difference between the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value exceeds the pulse difference threshold value, it is determined that the initial unit wheel speed pulse value accuracy in the first time period corresponding to the maximum value and the minimum value is low, and the first time period corresponding to the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value can be discarded, and two new first time periods are reacquired to continue the foregoing steps.

[0060] It is worth mentioning that in the case that the target tire is multiple, if the difference between the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value corresponding to each target tire in the multiple target tires does not exceed the pulse difference threshold value, the initial unit wheel speed pulse values of each target tire in multiple first time periods can continue to be averaged to obtain the average unit wheel speed pulse value corresponding to each target tire; if there is at least one target tire in the multiple target tires, the difference between the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value corresponding to the target tire exceeds the pulse difference threshold value (the difference between the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value corresponding to the target tire exceeds the pulse difference threshold value, which determines that the target tire is a data abnormal target tire), the first time period corresponding to the maximum initial unit wheel speed pulse value and the small initial unit wheel speed pulse value of the data abnormal target tire needs to be discarded, and a new first time period is reacquired to continue the foregoing steps.

[0061] In addition, when there are multiple target tires, for any target tire, if the absolute value of the difference between the average unit wheel speed pulse value of the target tire and the existing unit wheel speed pulse value is greater than the unit wheel speed pulse threshold, the average unit wheel speed pulse value of the target tire is obtained as the unit wheel speed pulse value; if the absolute value of the difference between the average unit wheel speed pulse value of the target tire and the existing unit wheel speed pulse value is not greater than the unit wheel speed pulse threshold, the existing unit wheel speed pulse value of the target tire is obtained as the unit wheel speed pulse value.

[0062] It is understandable that a vehicle can have a built-in unit wheel speed pulse value. This built-in unit wheel speed pulse value serves as an existing unit wheel speed pulse value. After the unit wheel speed pulse value is determined according to the aforementioned process, it serves as a new existing unit wheel speed pulse value during the subsequent driving process of the vehicle. This value is then used to compare with the average unit wheel speed pulse value corresponding to the new first time period when the new first time period is determined.

[0063] Generally speaking, in order to improve the accuracy of the determined unit wheel speed pulse value, the number of the first time period should not be too small. At the same time, in order to avoid the heavy data processing task caused by a large number of first time periods, the number of first time periods is preferably 5-7.

[0064] It is worth mentioning that if there are multiple target tires, the initial unit wheel speed pulse value and the unit wheel speed pulse value for each target tire are determined according to the aforementioned process.

[0065] For example, the target tire includes a left wheel and a right wheel, and the initial unit wheel speed pulse value of the target tire in each first time period is: pulse r_1 ,pulse l_1 ,pulse r_2 ,pulse l_2 ,…,pulse r_n ,pulse l_n Among them, pulse r_i Let pulse be the initial unit wheel speed pulse value of the right wheel during the i-th time interval. l_i Let n be the initial unit wheel speed pulse value of the left wheel in the i-th first time interval, and n be the number of first time intervals.

[0066] If max(pulse) r_1 ,…,pulse r_n )―min(pulse r_1 ,…,pulse r_n )≤pulse r_const (pulse r_const (The pulse difference threshold for the right wheel), and max(pulse) l_1 ,…,pulsel_n ) - min(pulse l_1 ,…,pulse l_n ) ≤ pulse l_const (pulse l_const is the pulse difference threshold value of the left wheel), the average unit wheel speed pulse value pulse r of the right wheel = (pulse r_1 +…+pulse r_n ) / n, the average unit wheel speed pulse value pulse r of the left wheel = (pulse r_1 +…+pulse r_n ) / n. r r_1 r_n r r_1 r_n

[0067] If or, if , the maximum and minimum initial unit wheel speed pulse values are discarded (which can be the maximum and minimum initial unit wheel speed pulse values corresponding to the left wheel, or the maximum and minimum initial unit wheel speed pulse values corresponding to the right wheel, or the maximum and minimum initial unit wheel speed pulse values corresponding to the left wheel and the right wheel respectively), and a plurality of first time periods are reselected, and the average unit wheel speed pulse value of the right wheel and the average unit wheel speed pulse value of the left wheel are determined according to the foregoing process.

[0068] After the average unit wheel speed pulse value of the right wheel and the average unit wheel speed pulse value of the left wheel are determined, pulse r is compared with pulse l , the existing unit wheel speed pulse value p_pulse r of the right wheel is compared with the existing unit wheel speed pulse value p_pulse l of the left wheel: if abs(pulse r -p_pulse r )>pulse r_const , pulse r is replaced by p_pulse r , and written into the controller of the vehicle to update the existing unit wheel speed pulse value of the right wheel; if abs(pulse l -p_pulse l )>pulse l_const , pulse l is replaced by p_pulse l , and written into the controller of the vehicle to update the existing unit wheel speed pulse value of the left wheel.

[0069] S102, determining the vehicle track in the vehicle driving process according to the target tire parameter.

[0070] After the unit wheel speed pulse value of the target tire is determined, the vehicle trajectory can be planned based on the unit wheel speed pulse value of the target tire during the driving of the vehicle. When there are multiple target tires, the vehicle trajectory of the vehicle can be planned based on the unit wheel speed pulse values of the multiple target tires.

[0071] In this application, the unit wheel speed pulse value of the target tire can be input into the trajectory estimation observer. The trajectory estimation observer can determine the vehicle trajectory of the vehicle in an inference period based on the unit wheel speed pulse value of the target tire in the inference period, the number of pulses counted by the vehicle, and the change value of the heading angle of the vehicle. The change value of the heading angle of the vehicle in the inference period refers to the change value of the heading angle of the vehicle between any two adjacent time points in the inference period, and the number of pulses of the vehicle in the inference period refers to the number of pulses of the vehicle between any two adjacent time points in the inference period. The inference period can be any period set based on requirements, or a period starting from the time when the vehicle starts driving and ending at the time when the vehicle stops driving.

[0072] Specifically, the length of the trajectory of the vehicle can be determined according to the number of pulses and the unit wheel speed pulse value, and the direction of the trajectory can be determined according to the change value of the heading angle, so as to determine the vehicle trajectory of the vehicle in combination with the length of the trajectory and the direction of the trajectory.

[0073] In this embodiment, the unit wheel speed pulse value of the target tire is adjusted according to the driving conditions of the vehicle in each first time period. The unit wheel speed pulse threshold is related to the actual vehicle condition of the vehicle in the first time period, so that the determined unit wheel speed pulse value is more consistent with the actual situation of the target tire of the vehicle, and the accuracy of the unit wheel speed pulse value is higher, thereby effectively reducing the situation that the determined vehicle trajectory is inaccurate due to the mismatch between the fixed existing unit wheel speed pulse value and the actual situation of the target tire of the vehicle, and the low accuracy of the existing unit wheel speed pulse value.

[0074] In an embodiment, the target tire parameter of the target tire further includes a pulse delay parameter corresponding to the vehicle, such as Figure 3 As shown in FIG. 1, before S101, the method further includes:

[0075] S201, after the step of obtaining the average unit wheel speed pulse value as the unit wheel speed pulse value, obtaining an initial pulse delay parameter of the vehicle in a second target time period in the multiple second time periods.

[0076] The second target time period is any one of a plurality of second time periods; the initial pulse delay parameter is determined according to a difference between a navigation track and a calculated track of the vehicle in the second target time period; the navigation track refers to a vehicle track determined based on navigation data of the navigation system in the second target time period, and the calculated track refers to a vehicle track of the vehicle in the second target time period estimated based on a preset pulse delay parameter.

[0077] In the case of obtaining the average unit wheel speed pulse value as the unit wheel speed pulse value, if it is determined that the existing unit wheel speed pulse value of the target tire changes, the pulse delay parameter of the vehicle also changes, and the existing pulse delay parameter corresponding to the vehicle is no longer accurate. At this time, the pulse delay parameter needs to be determined again, that is, after the step of obtaining the average unit wheel speed pulse value as the unit wheel speed pulse value is performed, it is determined that the existing pulse delay parameter of the vehicle needs to be updated, and the initial pulse delay parameter of the vehicle in the second target time period of the plurality of second time periods is obtained, so as to determine the pulse delay parameter of the vehicle according to the initial pulse delay parameter of the vehicle in the plurality of second time periods.

[0078] It is worth mentioning that in the case of multiple target tires, for any target tire, if the average unit wheel speed pulse value of the target tire is obtained as the unit wheel speed pulse value, the pulse delay parameter of the vehicle needs to be determined again.

[0079] The pulse delay parameter is used to indicate the time difference between the vehicle yaw motion and the odometer. Generally, the time difference between the vehicle yaw motion and the odometer is t = N delay *T Dr , wherein T Dr is a set time period, for example, T Dr = 0.02s, N delay is the pulse delay parameter.

[0080] Based on the definition of the pulse delay parameter, it can be known that the pulse delay parameter is directly related to a single target tire of the vehicle, and therefore, the pulse delay parameter is actually the pulse delay parameter of the whole vehicle. However, after the target tire of the vehicle changes, the unit wheel speed pulse value of the target tire changes, and the state of the whole vehicle also changes, and therefore, after the unit wheel speed pulse value of the target tire changes, the pulse delay parameter also needs to be determined again.

[0081] In the present application, after the unit wheel speed pulse value of the target tire is determined, a plurality of second time periods can be selected, and the position information and the attitude information of the vehicle can be collected based on the navigation system (for example, including a GPS and an inertial navigation unit) to obtain the navigation data. According to the position information and the attitude information of the vehicle collected in the second time period, the vehicle track of the vehicle in the second time period is determined as the navigation track of the vehicle in the second time period.

[0082] Meanwhile, the preset pulse delay parameter can be set based on the demand, and then the vehicle track is estimated by using the set preset pulse delay parameter to obtain the estimated track as the estimated track of the vehicle in the second time period. The estimated track of the vehicle in the second target time period is the target estimated track.

[0083] For any one second time period, the initial pulse delay parameter of the vehicle in the second time period is determined according to the difference between the navigation track and the estimated track of the vehicle in the second time period.

[0084] In some embodiments, the preset pulse delay parameter is a plurality; each preset pulse delay parameter corresponds to an estimated track; S201 can include: determining the target estimated track of the vehicle in the second target time period under the target delay parameter based on the heading angle change value, the unit wheel speed pulse value and the target pulse delay parameter in the second target time period; the target pulse delay parameter is any one of the plurality of preset pulse delay parameters; determining the navigation track of the vehicle in the second target time period based on the navigation data of the navigation system at a plurality of second collection time points in the second target time period; determining the track mean square error of the vehicle in the second target time period under the target pulse delay parameter based on the target estimated track and the navigation track; obtaining the preset pulse delay parameter corresponding to the track mean square error with the smallest value as the initial pulse delay parameter of the vehicle in the second target time period.

[0085] The preset pulse delay parameter can be set based on the demand. Generally, the preset pulse delay parameter N delay_i is set to N min ~ N max In the present application, preferably, N max = 30, N min = -30, and the interval k (that is, the difference between two adjacent pulse delay parameters) is obtained. In the present application, preferably, k = 2, and m preset pulse delay parameters are obtained, m = Ceil ((N max -N min )\k) + 1, wherein the preset pulse delay parameter corresponding to the i-th scattering point is N delay_i = (i-1)*k+N min , i = 1, 2,..., m.

[0086] The heading angle change value, the unit wheel speed pulse value and the target pulse time delay parameter in the second target period can be input into a track estimation observer of the track inference module for track estimation, and a track obtained thereby is taken as a target estimated track of the vehicle in the second target period under the target time delay parameter.

[0087] Specifically, the track length of the vehicle can be determined according to the pulse quantity in the second target period (the pulse quantity between two adjacent time points in the second target period) and the unit wheel speed pulse value, and the track direction can be determined according to the heading angle change value, so as to determine the estimated track of the vehicle by combining the track length and the track direction, and then the estimated track is corrected by the target pulse time delay parameter to obtain a corrected estimated track as the target estimated track of the vehicle in the second target period under the target time delay parameter.

[0088] Meanwhile, the navigation data (which can include position information and attitude information) of the vehicle can be collected based on the navigation system (for example, including a GPS and an inertial navigation unit) of the vehicle in the second target period, and the track is determined based on the navigation data of the vehicle in the second target period as the navigation track of the vehicle in the second target period.

[0089] Then, the mean square error of the target estimated track and the navigation track of the vehicle in the second target period is determined as the track mean square error of the vehicle in the second target period under the target pulse time delay parameter based on the target estimated track of the vehicle in the second target period under the target time delay parameter and the navigation track of the vehicle in the second target period.

[0090] The track mean square error of the vehicle in the second target period under each pulse time delay parameter is obtained by traversing all the preset pulse time delay parameters, and the preset pulse time delay parameter corresponding to the track mean square error with the minimum value is selected as the initial pulse time delay parameter of the target tire in the second target period. Thus, the initial pulse time delay parameter of the vehicle in each second target period is determined by traversing each second target period.

[0091] In the present application, the target estimated track (i.e. the estimated track of the vehicle in the second target period under the target pulse time delay parameter) comprises an estimated track point of the vehicle at each second collection time point in the second target period; the navigation track (i.e. the navigation track of the vehicle in the second target period) comprises a navigation track point of the vehicle at each second collection time in the second target period; accordingly, the elementary row transformation parameter is determined based on a first track point in the target estimated track and a second track point corresponding to the first track point in the navigation track; each estimated track point in the target estimated track is transformed based on the elementary row transformation parameter to obtain a target transformed track corresponding to the target estimated track under the target pulse time delay parameter; the target transformed track comprises a transformed track point of the vehicle at each second collection time point in the second target period; and the track mean square error of the vehicle in the second target period under the target pulse time delay parameter is determined according to each estimated track point in the target estimated track and each transformed track point in the target transformed track.

[0092] The second time period can comprise a plurality of time points, each time point serving as a second collection time point. Accordingly, for the aforementioned target estimated track, the target estimated track comprises an estimated track point of the vehicle at each second collection time point in the second target period, and for the navigation track (i.e. the navigation track of the vehicle in the second target period), the navigation track comprises a navigation track point of the vehicle at each second collection time in the second target period.

[0093] The first track point can be at least one track point selected from the target estimated track, and the second track point is a track point in the navigation track corresponding to the first track point. The first track point and the second track point correspond to each other in the sense that they are at the same time point. For example, the first track point can be a track point in the target estimated track 0.04s away from the start time of the second target period, and the second track point can be a track point in the navigation track 0.04s away from the start time of the second target period.

[0094] In the present embodiment, the number of first track points and the number of second track points can both be multiple, and the number of first track points and the number of second track points are the same. For example, six first track points and six second track points can be selected: four first track points in the target estimated track 0.04s, 0.08s, 0.12s, 0.16s, 0.20s and 0.24s away from the start time of the second target period, and four second track points in the navigation track 0.04s, 0.08s, 0.12s, 0.16s, 0.20s and 0.24s away from the start time of the second target period.

[0095] The end position of the target estimated track (the position at the end of the second target time period) and the end position of the navigation track can be subtracted by the initial positions (the positions at the beginning of the second target time period) respectively, so as to move the target estimated track and the navigation track to the respective coordinate origins. Then, the target estimated track and the navigation track are projected on the target projection plane respectively to obtain a projected target estimated track and a projected navigation track, the projected target estimated track at least including a first projected track point corresponding to the first track point, and the projected navigation track at least including a second projected track point corresponding to the second track point. Since the first track point corresponds to the second track point, the first projected track point of the first track point also corresponds to the second projected track point of the second track point.

[0096] Then, the elementary row transformation parameters can be determined based on the corresponding first projected track point and the second projected track point according to Formula Two, and Formula Two is as follows:

[0097] x1 = X1*cos(θ) + Y1*sin(θ)

[0098] y1 = -X1*sin(θ) + Y1*cos(θ)

[0099] wherein the elementary row transformation parameters include cos(θ) and sin(θ), x1 and y1 are the coordinates of the first projected track point, and X1 and Y1 are the coordinates of the second projected track point corresponding to the first projected track point.

[0100] When the determined first track point and the second track point are multiple, the obtained first projected track point and the second projected track point are also multiple, and the elementary row transformation parameters determined according to Formula Two are also multiple. At this time, the multiple elementary row transformation parameters are averaged as the elementary row transformation parameters used in the subsequent calculation process.

[0101] After obtaining the elementary row transformation parameters, each estimated track point in the target estimated track is transformed based on the elementary row transformation parameters to obtain a target transformed track corresponding to the target estimated track under the target pulse time delay parameters; the target transformed track includes transformed track points of the vehicle at each second collection time point in the second target time period, and one transformed track point corresponds to one estimated track point in the target estimated track at one second collection time point (that is, one estimated track point is transformed to obtain one transformed track point).

[0102] After obtaining the target estimated track and the corresponding target transformed track, the mean square error between the target estimated track and the target transformed track can be determined according to each estimated track point in the target estimated track and each transformed track point in the target transformed track, as the track mean square error of the vehicle in the second target time period under the target pulse time delay parameters.

[0103] Specifically, the aforementioned trajectory mean square error calculation process refers to Formula Three, and Formula Three is as follows:

[0104]

[0105] wherein T2 is the number of second collection time points in the second target time period (the same as the number of estimated trajectory points in the target estimated trajectory and the number of transformed trajectory points in the target estimated trajectory) x i and y i is the coordinate of the i th estimated trajectory point in the target estimated trajectory after projection on the target projection plane, X R_i and Y R_i is the coordinate of the i th transformed trajectory point in the target transformed trajectory after projection on the target projection plane, wherein the i th estimated trajectory point corresponds to the i th transformed trajectory point (i.e., the i th transformed trajectory point is obtained by transforming the i th estimated trajectory point).

[0106] It is worth mentioning that, in the present application, the plane coordinates are used to determine the trajectory mean square error, therefore, in some embodiments, each estimated trajectory point in the target estimated trajectory can also be projected on the target projection plane to obtain a target projection estimated trajectory, at this time, the target projection estimated trajectory includes the projection estimated trajectory points under each second collection time point (one projection estimated trajectory point corresponds to one estimated trajectory point); then, each projection estimated trajectory point in the target projection estimated trajectory is transformed based on the elementary row transformation parameters to obtain the target projection transformed trajectory corresponding to the target projection estimated trajectory under the target pulse time delay parameters; the target projection transformed trajectory includes the projection transformed trajectory points under each second collection time point (one projection transformed trajectory point corresponds to one projection estimated trajectory point); then, the mean square error between the target projection estimated trajectory and the target transformed trajectory is determined in the manner of Formula Three based on each projection estimated trajectory point in the target projection estimated trajectory and each projection transformed trajectory point in the target projection transformed trajectory, as the trajectory mean square error of the vehicle in the second target time period.

[0107] According to the aforementioned process, for each second time period, the trajectory mean square error of the vehicle in the second time period can be determined as m (m is the number of the aforementioned preset pulse time delay parameters), and the preset pulse time delay parameter corresponding to the trajectory mean square error with the minimum value is selected as the initial pulse time delay parameter of the vehicle in the second time period.

[0108] In the present embodiment, the pose of the vehicle in the second time period satisfies the target pose condition, the number of received satellites corresponding to the navigation system of the vehicle reaches the preset satellite number, the vehicle speed of the vehicle does not exceed the target vehicle speed, and the change value of the heading angle of the vehicle satisfies the heading range condition.

[0109] Each second time period can include a plurality of second collection time points, and the heading angle change value of the vehicle refers to a change value of the heading angle of the integrated navigation system of the vehicle between adjacent two second collection time points in the second time period. The heading range condition can refer to that a minimum value of the heading angle change value of the vehicle is not greater than a first threshold value or a minimum value of the heading angle change value is not less than a second threshold value, wherein the first threshold value is less than the second threshold value. The first threshold value being less than the second threshold value can be a value set based on requirements, for example, the first threshold value is -1.0 rad and the second threshold value is 1.0 rad. That is, the heading range condition is: Max ΔHeading ≥ ΔHeading c or Min ΔHeading ≤ -ΔHeading c , wherein Max ΔHeading is a maximum value of the heading angle change value of the second time period; and Min ΔHeading is a minimum value of the heading angle change value in the second time period.

[0110] In the embodiment, after the step of obtaining the average unit wheel speed pulse value as the unit wheel speed pulse value is performed, the pose of the vehicle, the number of received satellites corresponding to the navigation system, and the vehicle speed of the vehicle can be collected for each time point (the interval between adjacent time points can be a value set based on requirements, for example, the interval between adjacent time points is 0.02 s). At a certain time point, the pose of the vehicle satisfies the target pose condition (that is, X std ≤ X std_c , Y std ≤ Y std_c , Heading std ≤ Heading std_c , Pitch std ≤ Pitch std_c ), the number of received satellites corresponding to the navigation system of the vehicle reaches the preset satellite number, and the vehicle speed of the vehicle does not exceed the target vehicle speed (Vehspd (vehicle speed) ≤ Vehspd c , the time point is determined as a second starting time point.

[0111] At this time, the second starting time point can be taken as the starting time of the period, and for each time point after the second starting time point, if the pose of the vehicle at the time point satisfies the target pose condition, the number of received satellites corresponding to the navigation system of the vehicle reaches the preset satellite number, and the vehicle speed of the vehicle does not exceed the target vehicle speed, and the heading angle change value of all time points involved between the second starting time point and the time point satisfies the heading range condition, the period continues to be counted until the length of the period reaches the second length (that is, the length required by the aforementioned second time period), the counting is ended, and the period is determined as a second time period, and each time point in the second time period is determined as a second collection time point.

[0112] If, for any time point after the second starting time point, the pose of the vehicle at the time point does not satisfy the target pose condition, the number of received satellites corresponding to the navigation system of the vehicle does not reach the preset satellite number, the vehicle speed exceeds the target vehicle speed, or the heading angle change value of all time points involved between the second starting time point and the time point does not satisfy the heading range condition, the time point is taken as the end time of the time period, and if the length of the time period does not reach the second length, the time period is discarded, and the second time period is determined again according to the foregoing process.

[0113] Generally, the interval between two adjacent time points is fixed, so the number of time points can be counted from the second starting time point, and whether the length of the time period reaches the second length is determined according to the number of counted time points.

[0114] In this application, a plurality of second time periods can be determined according to the foregoing process, and then the initial pulse time delay parameter of the vehicle in each second time period is determined.

[0115] S202, determining the average value of the initial pulse time delay parameter of the vehicle in the plurality of second time periods as the pulse time delay parameter.

[0116] The time delay parameter threshold value can be a value set based on demand, for example, 2k (k is the aforementioned scattering point interval).

[0117] In this embodiment, the average value of the initial pulse time delay parameter of the vehicle in the plurality of second time periods can be directly calculated as the pulse time delay parameter.

[0118] In other embodiments, S202 can further include: if the difference between the maximum initial pulse time delay parameter and the minimum initial pulse time delay parameter of the vehicle in the plurality of second time periods does not exceed the time delay parameter threshold value, determining the average value of the initial pulse time delay parameter of the vehicle in the plurality of second time periods as the pulse time delay parameter.

[0119] If the difference between the maximum initial pulse time delay parameter and the minimum initial pulse time delay parameter of the vehicle in the plurality of second time periods does not exceed the time delay parameter threshold value, it is determined that the accuracy of the data in each second time period is high, and the average value of the initial pulse time delay parameter of the vehicle in the plurality of second time periods is directly calculated as the pulse time delay parameter in the target tire parameter, to replace the existing pulse time delay parameter of the vehicle. That is, in the case of , the wherein n is the number of second time periods, is the initial pulse time delay parameter of the vehicle in the i-th second time period.

[0120] If the difference between the maximum initial pulse time delay parameter and the minimum initial pulse time delay parameter in the plurality of second time periods exceeds the time delay parameter threshold, it is determined that the data in the second time periods corresponding to the maximum value and the minimum value has low accuracy, and the maximum initial pulse time delay parameter and the minimum initial pulse time delay parameter can be discarded, and the two second time periods are re-determined to repeat the foregoing process.

[0121] It can be understood that in the embodiment, the step S102 refers to determining the vehicle track in the vehicle driving process by the track estimator according to both the unit wheel speed pulse value corresponding to the target tire and the pulse time delay parameter of the vehicle.

[0122] In the embodiment, the track determination process is as shown in Figures 4-5 First, the determination process of the unit wheel speed pulse value is performed. As shown in Figure 4 First, the first precondition judgment is performed. If the pose of the vehicle satisfies the target pose condition, the number of received satellites corresponding to the navigation system of the vehicle reaches the preset satellite number, and the vehicle speed does not exceed the target vehicle speed, it is determined that the first condition is satisfied, and the T1 counter starts counting (the counting time point, and the interval between adjacent time points is fixed). During the counting of the T1 counter, the first condition is judged. If the pose of the vehicle satisfies the target pose condition, the number of received satellites corresponding to the navigation system of the vehicle reaches the preset satellite number, the vehicle speed does not exceed the target vehicle speed, and the change range of the heading of the vehicle does not exceed the range threshold, it is determined that the first condition is satisfied, and the T1 counter continues to count until the number of time points reaches the first time point number (that is, the length of the time period at this time reaches the first length), and a first time period is obtained. If the first condition is not satisfied before the number of time points reaches the first time point number during the counting of the T1 counter, the T1 counter is cleared, the counting is discarded, and the first precondition judgment is performed again.

[0123] The n first time periods are obtained by repeating n times, and then the initial unit wheel speed pulse value of each of the n first time periods is determined, and the comparison of the initial unit wheel speed pulse values in the n first time periods is performed. If the difference between the maximum initial unit wheel speed pulse value and the minimum initial unit wheel speed pulse value does not exceed the pulse difference threshold, the average value of the initial unit wheel speed pulse values of the n first time periods is determined, and the existing unit wheel speed pulse value is replaced according to the average value to update the unit wheel speed pulse value. At this time, it is determined that the tire mark is 1. If the difference between the maximum initial unit wheel speed pulse value and the minimum initial unit wheel speed pulse value exceeds the pulse difference threshold, the maximum value and the minimum value are discarded, and the determination of the first time period is repeated twice to replace the discarded maximum value and minimum value to update the unit wheel speed pulse value.

[0124] When the tire indicator is set to 1, it indicates a change in the unit wheel speed pulse value, requiring adjustment of the existing pulse delay parameters. Therefore, the pulse delay parameters need to be determined. For example... Figure 5 As shown, the first precondition is determined. If the first precondition is met, the T2 counter starts counting (counting time points, with fixed intervals between adjacent time points). During the counting period of the T2 counter, the second condition is determined. If the vehicle's pose meets the target pose condition, the number of satellites received by the vehicle's navigation system reaches the preset number of satellites, the vehicle's speed does not exceed the target speed, and the change in the vehicle's heading angle meets the heading range condition, the second condition is determined to be met. The T2 counter continues to count until the number of time points reaches the second number of time points (that is, the duration of the time period at this time reaches the aforementioned second duration), thus obtaining a second time period. If the second condition is not met before the number of time points reaches the second number of time points during the counting period of the T2 counter, the T2 counter is cleared, the count is discarded, and the determination of the first precondition is repeated.

[0125] After obtaining the second time period, for multiple preset pulse delay parameters, based on the data within the second time period, the corresponding estimated trajectory is determined for each preset pulse delay parameter. Based on the estimated trajectory corresponding to each preset pulse delay parameter, the mean square error of the trajectory corresponding to each preset pulse delay parameter is determined. The preset pulse delay parameter corresponding to the minimum mean square error is determined as the initial pulse delay parameter for the second time period.

[0126] Repeat the aforementioned process m times to obtain m initial pulse delay parameters for the second time period. Then compare the m initial pulse delay parameters. If the difference between the maximum and minimum initial pulse delay parameters does not exceed the delay parameter threshold, determine the average value of the initial pulse delay parameters within the m second time periods. Replace the existing pulse delay parameters with this average value to update the pulse delay parameters. After updating the pulse delay parameters, the tire flag bit is 0. If the difference between the maximum and minimum initial pulse delay parameters exceeds the delay parameter threshold, discard the maximum and minimum values, and return to repeat the determination of the first time period twice to replace the discarded maximum and minimum values ​​to determine the updated pulse delay parameters.

[0127] Subsequently, if the vehicle determines that the tire marking position is 0, the vehicle trajectory is determined based on the most recently obtained pulse delay parameters (updated according to the aforementioned process) and the unit wheel speed pulse value (updated according to the aforementioned process).

[0128] In this embodiment, the pulse time delay parameter of the vehicle is adjusted according to the driving condition of the vehicle in each second time period. The pulse time delay parameter of the vehicle is related to the actual condition of the target tire of the vehicle in the second time period, so that the determined pulse time delay parameter is more matched with the actual condition of the target tire of the vehicle, and the accuracy of the pulse time delay parameter is higher. Therefore, the situation that the fixed existing pulse time delay parameter is not matched with the actual condition of the target tire of the vehicle, and the accuracy of the existing pulse time delay parameter is low, resulting in inaccurate vehicle track determination, is effectively reduced, and the accuracy of the determined vehicle track is improved.

[0129] Referring to the drawings Figure 6 , Figure 6 A structure block diagram of a track determination device according to an embodiment of the present application is shown. The device 1200 comprises:

[0130] The acquisition module 1210 is configured to acquire a target tire parameter corresponding to a target tire of a vehicle during driving of the vehicle. The target tire parameter comprises a unit wheel speed pulse value corresponding to the target tire. The unit wheel speed pulse value is acquired by: determining an initial unit wheel speed pulse value of the target tire in each first time period according to a mileage of the target tire in each first time period; averaging the initial unit wheel speed pulse values of the target tire in a plurality of first time periods to obtain an average unit wheel speed pulse value corresponding to the target tire; and acquiring the average unit wheel speed pulse value as the unit wheel speed pulse value if an absolute value of a difference between the average unit wheel speed pulse value and an existing unit wheel speed pulse value is greater than a unit wheel speed pulse threshold value.

[0131] The determination module 1220 is configured to determine a vehicle track of the vehicle during driving of the vehicle according to the target tire parameter.

[0132] Optionally, each first time period comprises a plurality of first collection time points. The device further comprises a first parameter determination module configured to determine an initial unit wheel speed pulse value of the target tire in a first target time period based on a ratio of a mileage of the target tire in the first target time period to a wheel speed pulse cumulative value of the target tire in the first target time period. The first target time period is any one of the plurality of first time periods.

[0133] Optionally, the target tire parameter further comprises a pulse time delay parameter corresponding to the vehicle; the device further comprises a second parameter determining module configured to, after the step of obtaining the average unit wheel speed pulse value as the unit wheel speed pulse value, obtain an initial pulse time delay parameter of the vehicle in a second target time period of the plurality of second time periods; the second target time period is any one of the plurality of second time periods; the initial pulse time delay parameter is determined according to a difference between a navigation track of the vehicle in the second target time period and a calculated track of the vehicle in the second target time period; the navigation track is a track of the vehicle in the second target time period determined based on navigation data of the navigation system in the second target time period; the calculated track is a track of the vehicle in the second target time period estimated based on a preset pulse time delay parameter; and the device further comprises a third parameter determining module configured to determine an average value of the initial pulse time delay parameters of the vehicle in the plurality of second time periods as the pulse time delay parameter.

[0134] Optionally, the preset pulse time delay parameters are a plurality of preset pulse time delay parameters; each preset pulse time delay parameter corresponds to a calculated track; the second parameter determining module is further configured to determine a target calculated track of the vehicle in the second target time period under the target pulse time delay parameter based on a heading angle change value in the second target time period, the unit wheel speed pulse value and the target pulse time delay parameter; the target pulse time delay parameter is any one of the plurality of preset pulse time delay parameters; the navigation track of the vehicle in the second target time period is determined based on navigation data of the navigation system at a plurality of second collection time points in the second target time period; and the second parameter determining module is further configured to determine a track mean square error of the vehicle in the second target time period under the target pulse time delay parameter based on the target calculated track and the navigation track; and the device further comprises a fourth parameter determining module configured to obtain a preset pulse time delay parameter corresponding to a minimum track mean square error as the initial pulse time delay parameter of the vehicle in the second target time period.

[0135] Optionally, the target calculated track comprises a calculated track point of the vehicle at each second collection time point in the second target time period; the navigation track comprises a navigation track point of the vehicle at each second collection time point in the second target time period; the second parameter determining module is further configured to determine a primary row transformation parameter based on a first track point in the target calculated track and a second track point corresponding to the first track point in the navigation track; transform each calculated track point in the target calculated track based on the primary row transformation parameter to obtain a target transformed track corresponding to the target calculated track under the target pulse time delay parameter; the target transformed track comprises a transformed track point of the vehicle at each second collection time point in the second target time period; and the second parameter determining module is further configured to determine the track mean square error of the vehicle in the second target time period under the target pulse time delay parameter based on each calculated track point in the target calculated track and each transformed track point in the target transformed track.

[0136] Optionally, the first parameter determination module is further configured to project the navigation coordinates of the vehicle at each first collection time point in a first target time period on a target projection plane to obtain planar projection coordinates of the vehicle at each first collection time point in the first target time period, the first target time period being any one of the plurality of first time periods, the navigation coordinates of the first collection time point being determined based on navigation data of the navigation system at the first collection time point, and determining a driving distance of the vehicle on the target projection plane in the first target time period as the mileage of the target tire in the first target time period according to the planar projection coordinates of the vehicle at each first collection time point in the first target time period.

[0137] In several embodiments provided in the present application, the coupling between the modules can be electrical, mechanical or other forms of coupling.

[0138] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can exist physically, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0139] On the other hand, the present application also provides a computer readable storage medium, which stores program codes that can be called by a processor to execute the method described in the above method embodiments.

[0140] The computer readable storage medium can be an electronic storage such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk or a ROM. Optionally, the computer readable storage medium includes a non-transitory computer readable storage medium. The computer readable storage medium has a storage space for storing program codes for executing any method steps in the above methods. These program codes can be read from or written into one or more computer program products. The program codes can be compressed in a suitable form, for example.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of determining a track, characterized by, The method comprises: During driving of the vehicle, a target tire parameter corresponding to a target tire of the vehicle is acquired; the target tire parameter comprises a unit wheel speed pulse value corresponding to the target tire and a pulse time delay parameter; the unit wheel speed pulse value is acquired by: determining an initial unit wheel speed pulse value of the target tire in each first time period according to a mileage of the target tire in each first time period; averaging the initial unit wheel speed pulse values of the target tire in multiple first time periods to obtain an average unit wheel speed pulse value corresponding to the target tire; if an absolute value of a difference between the average unit wheel speed pulse value and an existing unit wheel speed pulse value is greater than a unit wheel speed pulse threshold value, the average unit wheel speed pulse value is acquired as the unit wheel speed pulse value; the pulse time delay parameter is acquired by: after the step of acquiring the average unit wheel speed pulse value as the unit wheel speed pulse value, an initial pulse time delay parameter of the vehicle in a second target time period in multiple second time periods is acquired; the second target time period is any one of the multiple second time periods; the initial pulse time delay parameter is determined according to a difference between a navigation track of the vehicle in the second target time period and a calculated track of the vehicle in the second target time period; the navigation track refers to a vehicle track determined based on navigation data of a navigation system of the vehicle in the second target time period, and the calculated track refers to a vehicle track of the vehicle in the second target time period estimated based on a preset pulse time delay parameter; an average value of the initial pulse time delay parameters of the vehicle in the multiple second time periods is determined as the pulse time delay parameter; A vehicle track of the vehicle during driving of the vehicle is determined according to the target tire parameter.

2. The method of claim 1, wherein, Each of the first time periods comprises multiple first acquisition time points; the initial unit wheel speed pulse value of the target tire in each first time period is determined according to a mileage of the target tire in each first time period, comprising: The initial unit wheel speed pulse value of the target tire in a first target time period is determined based on a ratio of the mileage of the target tire in the first target time period to a wheel speed pulse cumulative value of the target tire in the first target time period; the first target time period is any one of the multiple first time periods.

3. The method of claim 1, wherein, The preset pulse time delay parameters are multiple; each preset pulse time delay parameter corresponds to a calculated track; The initial pulse time delay parameter of the vehicle in a second target time period in multiple second time periods is acquired, comprising: A target calculated track of the vehicle in the second target time period under a target pulse time delay parameter is determined based on a heading angle change value in the second target time period, the unit wheel speed pulse value and the target pulse time delay parameter; the target pulse time delay parameter is any one of the multiple preset pulse time delay parameters; A navigation track of the vehicle in the second target time period is determined based on navigation data of the navigation system at multiple second acquisition time points in the second target time period. determine, based on the target predicted trajectory and the navigation trajectory, a trajectory mean square error of the vehicle in the second target time period under the target pulse delay parameter; obtain a preset pulse delay parameter corresponding to the trajectory mean square error with the smallest value as the initial pulse delay parameter of the vehicle in the second target time period.

4. The method of claim 3, wherein, The target predicted trajectory includes a predicted trajectory point of the vehicle at each second collection time point in the second target time period; and the navigation trajectory includes a navigation trajectory point of the vehicle at each second collection time in the second target time period. The determining, based on the target predicted trajectory and the navigation trajectory, of the trajectory mean square error of the vehicle in the second target time period under the target pulse delay parameter includes: determining an elementary line transformation parameter based on a first trajectory point in the target predicted trajectory and a second trajectory point corresponding to the first trajectory point in the navigation trajectory; transforming each predicted trajectory point in the target predicted trajectory based on the elementary line transformation parameter to obtain a target transformed trajectory corresponding to the target predicted trajectory under the target pulse delay parameter; the target transformed trajectory includes a transformed trajectory point of the vehicle at each second collection time point in the second target time period; determining the trajectory mean square error of the vehicle in the second target time period under the target pulse delay parameter according to each predicted trajectory point in the target predicted trajectory and each transformed trajectory point in the target transformed trajectory.

5. The method of any one of claims 1-4, wherein: the pose of the vehicle in the first time period satisfies a target pose condition, the number of received satellites corresponding to the navigation system reaches a preset satellite number, the vehicle speed of the vehicle does not exceed a target vehicle speed, and the variation range of the heading of the vehicle does not exceed a variation range threshold; the pose of the vehicle in the second time period satisfies a target pose condition, the number of received satellites corresponding to the navigation system reaches a preset satellite number, the vehicle speed of the vehicle does not exceed a target vehicle speed, and the variation value of the heading angle of the vehicle satisfies a heading range condition.

6. The method of claim 1, wherein, Each of the first time periods includes a plurality of first collection time points; and before the determining, according to the mileage of the target tire in each of the first time periods, of the initial unit wheel speed pulse value of the target tire in each of the first time periods, the method further includes: projecting the navigation coordinates of the vehicle at each first collection time point in a first target time period on a target projection plane to obtain plane projection coordinates of the vehicle at each first collection time point in the first target time period; the first target time period is any one of the plurality of first time periods; and the navigation coordinates of the first collection time point are determined based on the navigation data of the navigation system at the first collection time point; determine, as the mileage of the target tire in the first target time period, a travel distance of the vehicle in the first target time period on the target projection plane according to the plane projection coordinates of the vehicle at each first collection time point in the first target time period.

7. A track determination device, characterized in that The device includes: The acquisition module is configured to acquire a target tire parameter corresponding to a target tire of a vehicle during driving of the vehicle. The target tire parameter includes a unit wheel speed pulse value corresponding to the target tire and a pulse delay parameter. The unit wheel speed pulse value is acquired by determining an initial unit wheel speed pulse value of the target tire in each first time period according to a mileage of the target tire in each first time period, averaging the initial unit wheel speed pulse values of the target tire in a plurality of first time periods to obtain an average unit wheel speed pulse value corresponding to the target tire, and acquiring the average unit wheel speed pulse value as the unit wheel speed pulse value if an absolute value of a difference between the average unit wheel speed pulse value and an existing unit wheel speed pulse value is greater than a unit wheel speed pulse threshold. The pulse delay parameter is acquired by acquiring an initial pulse delay parameter of the vehicle in a second target time period in a plurality of second time periods after the step of acquiring the average unit wheel speed pulse value as the unit wheel speed pulse value, the second target time period being any one of the plurality of second time periods, the initial pulse delay parameter being determined according to a difference between a navigation track of the vehicle in the second target time period and a calculated track of the vehicle in the second target time period, the navigation track being a vehicle track determined based on navigation data of the vehicle in the second target time period, and the calculated track being a vehicle track of the vehicle in the second target time period estimated based on a preset pulse delay parameter, and determining an average value of the initial pulse delay parameters of the vehicle in the plurality of second time periods as the pulse delay parameter. The determination module is configured to determine a vehicle track during driving of the vehicle according to the target tire parameter.

8. A vehicle characterized by comprising: The computer readable storage medium stores processor-executable program code that, when executed by the processor, causes the processor to perform the method of any one of claims 1-6. The computer readable storage medium stores processor-executable program code that, when executed by the processor, causes the processor to perform the method of any one of claims 1-6. ​ ​ 9. A computer-readable storage medium, characterized in that, ​

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