Driving distance measuring and calculating method, device and equipment and storage medium

Abstract

The invention discloses a driving distance measurement and calculation method, device and equipment and a storage medium, and relates to the technical field of distance measurement and calculation, and the method comprises the steps: obtaining a vehicle coordinate of a vehicle on a lane, and a lane coordinate point sequence of the lane; determining a plurality of lane segments of the lane based on a plurality of lane coordinate points in the lane coordinate point sequence; and determining the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments, through the above method, the distance between the projection point of the vehicle on the lane and the starting point of the lane in different scenes can be rapidly solved, and the method has good performance in any complex scene such as a curve or a U-shaped lane. Therefore, the accuracy of calculating the distance between the projection point of the vehicle and the starting point of the lane in a complex lane scene is improved.

Description

Technical Field

[0001] The present application relates to the technical field of distance measurement, and in particular to a driving distance measurement method, device, equipment, and storage medium. Background Art

[0002] In the field of intelligent driving, the spatial relationship between vehicles and lanes needs to be frequently processed in intelligent driving data sets. With the development of intelligent driving technology, accurate interaction between vehicles and lanes has become crucial. The calculation of the projection distance of the vehicle on the lane is the key link to achieve this interaction, which directly affects vehicle positioning, navigation decisions, safe driving and other aspects.

[0003] In existing technical solutions, the relationship between vehicles and lanes is mostly handled by simplified lane models and basic geometric calculation methods. These methods usually assume that lanes are straight lines or simple curves, and can quickly determine the position of vehicles on lanes through basic geometric relationships. However, the lane shape in the real world is far more complex than these simplified models, especially in scenarios such as ramps, curves, and U-turns, where the curvature of the lane varies greatly, and existing calculation methods are difficult to accurately reflect the true relationship between vehicles and lanes.

[0004] The defects of the above scheme are mainly reflected in the insufficient processing ability of complex lane shapes. In scenes with large lane curvature, the calculation of the distance between the vehicle's projection point and the starting point of the lane becomes complicated, and the existing methods are often unable to accurately calculate, resulting in inaccurate vehicle positioning, affecting the decision-making and execution of the intelligent driving system. In addition, when dealing with special scenes such as U-turns, the existing technology may not be able to provide reliable vehicle position information, resulting in incorrect calculation of the distance between the vehicle's projection point and the starting point of the lane, increasing driving risks.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of this application is to provide a driving distance measurement method, device, equipment, storage medium and computer program product, aiming to improve the accuracy of calculating the distance between the projection point of the vehicle and the starting point of the lane in complex lane scenarios.

[0007] To achieve the above purpose, the present application proposes a driving distance measurement method, which includes:

[0008] Acquire the vehicle coordinates of the vehicle on the lane and a lane coordinate point sequence of the lane;

[0009] Determining a plurality of lane segments of the lane based on a plurality of lane coordinate points in the lane coordinate point sequence;

[0010] A driving distance of the vehicle on the lane is determined based on the vehicle coordinates and the plurality of lane segments.

[0011] In one embodiment, the lane coordinate point sequence includes a plurality of lane segment start coordinates and a lane segment end coordinate, and the step of determining a plurality of lane segments of the lane based on the plurality of lane coordinate points in the lane coordinate point sequence includes:

[0012] A plurality of lane segments of the lane are determined based on the lane segment start coordinates and the lane segment end coordinates.

[0013] In one embodiment, the step of determining the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments comprises:

[0014] Obtaining the current driving distance of the vehicle;

[0015] Calculate the projection ratio of the vehicle on the current lane segment based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates;

[0016] According to the projection ratio of the vehicle on the current lane segment, the current driving distance is updated by the segment distance of the current lane segment and / or the projection ratio of the vehicle on the current lane segment to obtain the driving distance of the vehicle on the lane.

[0017] In one embodiment, the step of calculating the projection ratio of the vehicle on the current lane segment based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates comprises:

[0018] Constructing a starting point-vehicle vector according to the lane segment starting coordinates of the current lane segment and the vehicle coordinates;

[0019] Constructing a start-end vector according to the lane segment start coordinates and the lane segment end coordinates of the current lane segment;

[0020] The projection ratio of the vehicle on the current lane segment is determined according to the vector dot product result of the start point-vehicle vector and the start point-end point vector, and the segment distance of the current lane segment.

[0021] In one embodiment, the step of obtaining the driving distance of the vehicle on the lane by updating the current driving distance according to the projection ratio of the vehicle on the current lane segment by the segment distance of the current lane segment and / or the projection ratio of the vehicle on the current lane segment comprises:

[0022] According to the projection ratio of the vehicle on the current lane segment, determining whether the projection point of the vehicle coordinates on the current lane segment is within the range between the lane segment start coordinates and the lane segment end coordinates of the current lane segment;

[0023] If the projection point is within the enclosed range, the current driving distance is updated according to the projection ratio of the vehicle on the current lane segment and the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane;

[0024] If the projection point is not within the enclosed range, and the projection point is located on one side of the lane segment end coordinates of the current lane segment, the current driving distance is updated according to the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane.

[0025] In one embodiment, after the step of determining the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments, the step further includes:

[0026] Determine a subsequent lane segment of the current lane segment, take the subsequent lane segment as the current lane segment and execute the steps:

[0027] Based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates, a projection ratio of the vehicle on the current lane segment is calculated.

[0028] In one embodiment, the method further comprises:

[0029] If the projection point is within the enclosed range, the projection distance of the vehicle on the current lane segment is calculated and saved;

[0030] If the projection point is not within the enclosed range and the projection point is located on one side of the starting coordinate of the lane segment, then obtaining the projection distance of the vehicle on a number of historical lane segments, where the historical lane segments are a number of previous lane segments of the current lane segment;

[0031] The position information of the vehicle is determined according to the projection ratio and projection distance of the vehicle on the current lane segment, and the projection distance and projection ratio of the vehicle on the plurality of historical lane segments.

[0032] In addition, to achieve the above purpose, the present application also proposes a driving distance measuring device, the driving distance measuring device comprising:

[0033] An acquisition device, used to acquire the vehicle coordinates of the vehicle on the lane, and a lane coordinate point sequence of the lane;

[0034] a determining device, for determining a plurality of lane segments of the lane based on a plurality of lane coordinate points in the lane coordinate point sequence;

[0035] A measuring device is used to determine the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a driving distance measurement device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the driving distance measurement method as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the driving distance measurement method described above are implemented.

[0038] One or more technical solutions proposed in the present application obtain the vehicle coordinates of the vehicle on the lane, and a lane coordinate point sequence of the lane; determine a number of lane segments of the lane based on a number of lane coordinate points in the lane coordinate point sequence; determine the driving distance of the vehicle on the lane based on the vehicle coordinates and the number of lane segments. Through the above method, the distance between the projection point of the vehicle on the lane and the starting point of the lane in different scenarios can be solved quickly, and it has better performance in complex scenarios such as any curve or U-shaped road, thereby improving the accuracy of calculating the distance between the projection point of the vehicle and the starting point of the lane in complex lane scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A flow chart of the first embodiment of the driving distance calculation method of the present application;

[0042] Figure 2 A schematic diagram of the vector relationship between the vehicle coordinate points and the lane segments in the embodiment of the driving distance measurement method of the present application;

[0043] Figure 3 A schematic diagram of a curve scene in an embodiment of the driving distance measurement method of the present application;

[0044] Figure 4 A flow chart of the second embodiment of the driving distance calculation method of the present application;

[0045] Figure 5 A schematic diagram of a U-Turn scenario in an embodiment of a driving distance measurement method of the present application;

[0046] Figure 6 This is a schematic diagram of the module structure of the driving distance measurement device according to an embodiment of the present application;

[0047] Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the driving distance measurement method in the embodiment of the present application.

[0048] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of the embodiment of the present application is: to propose an innovative driving distance measurement method for measuring the driving distance of a vehicle on a lane, first obtain the coordinate position of the vehicle and a series of predefined coordinate points on the lane, which constitute the starting point and end point of the lane segment. Through these coordinate points, the system can determine the specific positions of multiple segments on the lane. Subsequently, based on the current coordinates of the vehicle and these lane segments, the system calculates the actual driving distance of the vehicle on the lane. The lane segment is determined according to the starting coordinates and the end coordinates of the lane, and then the current driving distance of the vehicle is obtained, and the projection ratio of the vehicle coordinates is calculated on the current lane segment. This projection ratio will be used to update the current driving distance, so as to obtain the driving distance of the vehicle on the lane segment. Furthermore, the system will also decide whether the driving distance needs to be updated based on whether the projection point of the vehicle coordinates is within the clamping range of the current lane segment. In addition, when the vehicle enters a new lane segment, the projection ratio of the vehicle on the new lane segment is continued to be calculated to ensure the continuity and accuracy of the driving distance measurement. If the vehicle's projection point is beyond the range of the current lane segment, the system also considers the projection distance and scale of the vehicle on the historical lane segment to determine the vehicle's precise position information.

[0052] In summary, the solution of this application provides an effective method for updating the vehicle's driving distance in real time by accurately measuring the driving distance of each segment of the vehicle on the lane and combining it with the vehicle's current location information. This method not only improves the accuracy of driving distance measurement, but also provides important technical support for vehicle navigation, route planning and intelligent transportation systems.

[0053] In the existing technology, the relationship between vehicles and lanes is mostly based on simplified lane models and basic geometric calculation methods. These methods usually assume that lanes are straight lines or simple curves, and can quickly determine the position of vehicles on lanes through basic geometric relationships. However, the lane shape in the real world is far more complex than these simplified models, especially in scenarios such as ramps, curves, and U-turns, where the curvature of the lane varies greatly, and existing calculation methods are difficult to accurately reflect the true relationship between vehicles and lanes.

[0054] The main drawback of the above solution is the lack of processing capabilities for complex lane shapes. In scenarios with large lane curvature, the calculation of the distance between the vehicle's projection point and the lane's starting point becomes complicated, and existing methods often cannot accurately calculate, resulting in inaccurate vehicle positioning, affecting the decision-making and execution of the intelligent driving system. In addition, when dealing with special scenarios such as U-turns, existing technologies may not be able to provide reliable vehicle location information, increasing driving risks.

[0055] The present application provides a solution, by obtaining the vehicle coordinates of the vehicle on the lane, and a lane coordinate point sequence of the lane; determining a number of lane segments of the lane based on a number of lane coordinate points in the lane coordinate point sequence; and determining the driving distance of the vehicle on the lane based on the vehicle coordinates and the number of lane segments. Through the above method, the distance between the projection point of the vehicle on the lane and the starting point of the lane in different scenarios can be solved more quickly, and it has better performance in complex scenarios such as any curve or U-shaped road, thereby improving the accuracy of calculating the distance between the projection point of the vehicle and the starting point of the lane in complex lane scenarios.

[0056] It should be noted that the execution subject of this embodiment may be a computing service device with driving distance measurement, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a driving distance measurement system, etc. The following takes the driving distance measurement system as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the present application embodiment provides a driving distance measurement method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the driving distance calculation method of the present application.

[0058] In this embodiment, the driving distance calculation method includes steps S1000 to S4000:

[0059] Step S1000: acquiring the vehicle coordinates of the vehicle on the lane and a lane coordinate point sequence of the lane;

[0060] It should be noted that obtaining the vehicle coordinates of the vehicle on the lane and the lane coordinate point sequence of the lane is the first step in implementing the driving distance measurement method in this embodiment. The vehicle coordinates refer to the specific position of the vehicle on the lane, usually composed of its lateral and longitudinal position information on the lane. The lane coordinate point sequence is a series of pre-defined coordinate points that mark the starting and ending points of the lane and the starting and ending points of each lane segment. The purpose of this step is to establish a reference frame for the relative position of the vehicle on the lane, and to provide the necessary data basis for subsequent lane segmentation and driving distance calculation. For details, please refer to Figure 2 The coordinate point of the vehicle is obj_coods(obj_x,obj_y), and the starting coordinate point of the line connecting the starting and ending coordinate points of the lane segment in the figure, lane_segment, is lane_seg_start(start_x,start_y), and the end coordinate point of lane_segment is lane_seg_end(end_x,end_y), then the line segment length of lane_segment is lane_seg_length.

[0061] For more details, please refer to Figure 3 , Figure 3 This is a schematic diagram of a curve scene in an embodiment of the driving distance measurement method of the present application, wherein each lane (lane1, lane2, lane3) contains a sequence of several lane coordinate points, wherein the lane start coordinate is taken as the starting point, and the next coordinate point adjacent to the lane start coordinate is the lane segment end coordinate of the first lane segment, and at the same time, the lane segment end coordinate is also the lane segment start coordinate of the next lane segment, and so on. The lane coordinate point sequence actually contains several lane segment start coordinates and lane segment end coordinates, and the end coordinate of the previous lane segment is also the starting coordinate of the next lane segment.

[0062] In a specific implementation, the system can collect vehicle location information in real time through the vehicle's built-in GPS and sensors, and use high-precision map data to obtain the lane coordinate point sequence, or other preset modules and algorithms to obtain this information.

[0063] Step S2000: determining a plurality of lane segments of the lane based on a plurality of lane coordinate points in the lane coordinate point sequence;

[0064] In a feasible implementation manner, the lane coordinate point sequence includes a plurality of lane segment start coordinates and lane segment end coordinates, and step S2000 may include step S2100:

[0065] Step S2100: Determine a plurality of lane segments of the lane based on the lane segment start coordinates and the lane segment end coordinates.

[0066] It should be noted that, as described above, a number of lane segments of the lane are determined based on a number of lane coordinate points in the lane coordinate point sequence, wherein each segment is defined by a pair of lane segment start coordinates and lane segment end coordinates, and all lane segments are determined by a number of lane segment start coordinates and lane segment end coordinates in the lane coordinate point sequence. Through this step, the entire lane can be divided into multiple manageable areas, providing a segmentation basis for accurate positioning and distance measurement of the vehicle on the lane.

[0067] For example, in a specific embodiment, the system identifies several starting points and end points in the lane coordinate point sequence, and then determines the boundaries of each lane segment based on these points, such as a straight line segment from point A to point B, a curve segment from point B to point C, etc.

[0068] Step S3000: Determine the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments.

[0069] It should be noted that after determining the vehicle coordinates and lane segments, the system then determines the vehicle's driving distance on the lane based on the vehicle coordinates and the determined lane segments. This process involves calculating the projection ratio of the vehicle on the current lane segment and updating the vehicle's driving distance accordingly. In this way, the system can track and update the vehicle's driving distance in real time to ensure the continuity and accuracy of the measurement.

[0070] For example, in one specific implementation, the system first determines the relative position of the vehicle between the starting point and the end point of the current lane segment, then calculates the projection ratio of the vehicle on the segment, and finally updates the vehicle's driving distance based on this ratio and the length of the lane segment.

[0071] Specifically, the system can decide whether to adjust the calculation method of the driving distance based on whether the projection point of the vehicle on the current lane segment is within the clamping range defined by the start and end coordinates. If the projection point is within the clamping range, the system will update the driving distance based on the vehicle's projection ratio and segment distance. If the projection point is on one side of the lane segment end coordinates, the system will directly use the segment distance to update the driving distance.

[0072] For example, in a specific embodiment, if the vehicle is about to leave the current lane segment, the system will calculate the projection distance of the vehicle on the segment, and determine the precise position of the vehicle based on this distance and the projection information of the vehicle on the historical lane segments.

[0073] In a feasible implementation manner, step S3000 may include steps S3100 to S3300:

[0074] Step S3100: obtaining the current driving distance of the vehicle;

[0075] Step S3200: Calculating the projection ratio of the vehicle on the current lane segment based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates;

[0076] Step S3300: According to the projection ratio of the vehicle on the current lane segment, the current driving distance is updated by the segment distance of the current lane segment and / or the projection ratio of the vehicle on the current lane segment to obtain the driving distance of the vehicle on the lane.

[0077] It should be noted that the current driving distance of the vehicle refers to the straight-line distance traveled by the vehicle since the distance accumulation starting point (that is, the lane starting point). In this embodiment, the driving distance can be obtained by accumulating the driving distance of the vehicle in each lane segment.

[0078] In addition, calculating the projection ratio of the vehicle on the current lane segment is a prerequisite for achieving the driving distance. The relative position of the vehicle on the segment is determined based on the projection of the vehicle's current coordinates on the current lane segment. Specifically, the projection ratio of the vehicle on the current lane segment can be further determined by constructing the start-vehicle vector and the start-end vector and calculating the dot product of the two vectors.

[0079] In addition, the purpose of updating the current driving distance is to add the projection distance of the vehicle on the current lane segment to the previous driving distance to obtain the total driving distance of the vehicle on the entire lane (that is, the cumulative distance of the vehicle from the start of the lane). If the projection point of the vehicle is within the range of the start and end coordinates of the current lane segment, the system will update the driving distance based on the projection ratio and segment distance of the vehicle. If the projection point is located on one side of the end coordinate of the lane segment, the system will directly use the segment distance to update the driving distance.

[0080] In a feasible implementation manner, step S3200 may include steps S3210 to S3230:

[0081] Step S3210: constructing a starting point-vehicle vector according to the lane segment starting coordinates of the current lane segment and the vehicle coordinates;

[0082] Step S3220: constructing a start-end vector according to the lane segment start coordinates and the lane segment end coordinates of the current lane segment;

[0083] Step S3230: Determine the projection ratio of the vehicle on the current lane segment according to the vector dot product result of the start-point-vehicle vector and the start-point-end point vector, and the segment distance of the current lane segment.

[0084] It should be noted that the starting point-vehicle vector refers to the vector from the starting coordinate point of the current lane segment to the vehicle's position, representing the relative position of the vehicle from the starting point of the lane segment. Based on this vector, the projection of the vehicle on the lane segment can be calculated, which is the basis for determining the vehicle's position on the lane.

[0085] In addition, the start-end vector is the vector from the starting coordinate point to the end coordinate point of the current lane segment, representing the length and direction of the entire lane segment. The calculation results of the start-end vector and the start-vehicle vector will jointly determine the specific position of the vehicle in the current lane segment.

[0086] In addition, the projection ratio of the vehicle on the current lane segment can be determined by the dot product results of the start-vehicle vector and the start-end point vector, combined with the segment distance of the current lane segment. The dot product result reflects the angle and relative length between the two vectors, while the projection ratio indicates how much of the current lane segment the vehicle has traveled, which is crucial for accurately calculating the driving distance.

[0087] For example, in one possible implementation, the system first determines the starting point and the end point of the current lane segment, and constructs the start-vehicle vector and the start-end point vector. By calculating the dot product of these two vectors, the system can determine the position of the vehicle relative to the current lane segment, and calculate the projection ratio of the vehicle on the segment accordingly. This ratio reflects the distance of the lane segment that the vehicle has traveled, and the system will use this ratio and the actual length of the lane segment to update the vehicle's driving distance. This continuous process ensures real-time update and high accuracy of the driving distance, providing reliable data support for vehicle navigation and monitoring.

[0088] More specifically, refer to Figure 2The schematic diagram of the vector relationship between the vehicle coordinate point and the lane segment in the embodiment of the driving distance measurement method of the present application is shown. The vector pointing from the starting coordinate point of the lane segment lane_segment to the vehicle coordinate is recorded as the starting vehicle vector lane_vector1, then lane_vector1 = (obj_x-start_x, obj_y-start_y), and the vector pointing from the end coordinate of lane_segment to the starting coordinate point of lane_segment is recorded as the starting end vector lane_vector2, then lane_vector2 = (end_x-start_x, end_y-start_y).

[0089] By calculating the dot product of the starting vehicle vector lane_vector1 and the starting and ending point vector lane_vector2, the relative position relationship between the vehicle and the current lane segment can be determined. The value of the dot product of the above two vectors is recorded as the vector dot product dot_result. The ratio of the distance from the projection point of the vehicle coordinate point on the line segment starting and ending point lane_segment to the starting point lane_segment of the line segment lane_segment to the entire line segment lane_segment (recorded as portion) can be obtained by dot_result / (lane_seg_length*lane_seg_length) (vector dot product / line segment length square). When portion>=0 and portion<=1, the projection point of the vehicle coordinate point on the line segment lane_segment falls on the line segment lane_segment. Otherwise, it means that the projection point of the vehicle coordinate point on the line segment lane_segment falls outside the line segment lane_segment.

[0090] The present embodiment provides a driving distance measurement method, which obtains the vehicle coordinates of the vehicle on the lane and a lane coordinate point sequence of the lane; determines a number of lane segments of the lane based on a number of lane coordinate points in the lane coordinate point sequence; and determines the driving distance of the vehicle on the lane based on the vehicle coordinates and the number of lane segments. Through the above method, the distance between the projection point of the vehicle on the lane and the starting point of the lane in different scenarios can be solved quickly, and it has better performance in complex scenarios such as any curve or U-shaped road, thereby improving the accuracy of calculating the distance between the projection point of the vehicle and the starting point of the lane in complex lane scenarios.

[0091] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2The step S3300 of the driving distance measurement method further includes steps S3310 to S3330:

[0092] Step S3310: judging, based on the projection ratio of the vehicle on the current lane segment, whether the projection point of the vehicle coordinates on the current lane segment is within the range between the lane segment start coordinates and the lane segment end coordinates of the current lane segment;

[0093] Step S3320: If the projection point is within the enclosed range, the current driving distance is updated according to the projection ratio of the vehicle on the current lane segment and the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane;

[0094] Step S3330: If the projection point is not within the enclosed range, and the projection point is located on one side of the lane segment end coordinates of the current lane segment, the current driving distance is updated according to the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane.

[0095] It should be noted that in this embodiment, it is determined whether the projection point of the vehicle coordinates on the current lane segment is within the clamping range, and the relative position of the vehicle and the current lane segment is determined based on the result. The "clamping range" here refers to the area defined by the start coordinates and end coordinates of the current lane segment. When a vehicle travels within this range, the calculation method of its driving distance will be different.

[0096] In addition, if the projection point of the vehicle is within the encirclement range, the system will adjust the vehicle's driving distance based on the projection ratio of the vehicle on the current lane segment and the actual length of the lane segment. This method can accurately reflect the distance traveled by the vehicle on the current lane segment.

[0097] In addition, if the vehicle's projection point is not within the encirclement range and is located on one side of the current lane segment end point coordinates, in this case, the system will directly use the length of the current lane segment to update the vehicle's driving distance because the vehicle has exceeded the area defined by the start and end points of the current lane segment.

[0098] Specifically, in a feasible implementation, the system first determines the current coordinates of the vehicle through the vehicle's GPS and map matching technology, and then calculates the projection point of the vehicle on the current lane segment. The system determines whether the projection point is within the clamping range defined by the start and end coordinates of the current lane segment. If the projection point is within the clamping range, the system will calculate the projection ratio of the vehicle on the lane segment and update the vehicle's driving distance in combination with the length of the lane segment. If the projection point exceeds the clamping range, the system will check whether the vehicle is approaching or has exceeded the end point of the current lane segment. If so, the length of the current lane segment is directly added to the driving distance to ensure the continuity and accuracy of the driving distance. This process involves dynamic data updates and real-time calculations, providing a precise driving distance measurement solution for the vehicle.

[0099] More specifically, in combination with the above implementation, s_sum is used to record the cumulative distance, s_sum is initialized to 0, the coordinates of the vehicle are obj_coods(obj_x,obj_y), if the projection ratio portion of the above vehicle in the current lane>1, it means that the projection point of the vehicle coordinates on the starting point and end point vector falls outside the starting point and end point line, and is located on the side of the end point, that is, the vehicle is not within the range of the current line segment lane_segmen, and the vehicle should have passed the lane segment (that is, the currently calculated lane segment), then the cumulative distance s_sum is updated, and the new value is s_sum+lane_seg_length (the length of the line segment lane_segment).

[0100] If portion>=0 and portion<=1, it means that the projection point of the vehicle coordinate point on the line segment lane_segment falls on the line segment lane_segment. At this time, the projection distance L from the vehicle coordinate point to the line segment lane_segment can be further calculated. At this time, the distance s between the projection point of the vehicle agent on the lane and the starting point of the lane is s_sum+lane_seg_length*portion.

[0101] In a feasible implementation manner, step S3000 may further include step S4000:

[0102] Step S4000: Determine a subsequent lane segment of the current lane segment, take the subsequent lane segment as the current lane segment and execute the steps:

[0103] Based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates, a projection ratio of the vehicle on the current lane segment is calculated.

[0104] It should be noted that, in this embodiment, in order to accurately calculate the distance between the vehicle and the starting point of the lane (or the driving distance of the vehicle on the lane) in complex scenarios (such as large curvature curves or U-shaped roads), this embodiment provides the above method, by modeling the lane and setting a number of lane coordinate points, dividing the lane into a number of lane segments according to these coordinate points, so as to calculate the vehicle driving distance based on the several lane segments and the current coordinates of the vehicle, respectively, thereby effectively improving the accuracy of the driving distance calculation in complex scenarios. In this way, the system performs vector calculation and relative position determination with each lane segment one by one, starting from the starting point of the lane, based on the current coordinates of the vehicle in the lane. As long as it is determined that the relative position of the vehicle to the current lane segment has passed or is passing, it can be specifically selected to directly accumulate the lane segment distance or a certain proportion of the lane segment distance to update the accumulated distance s_sum, and then enter the relative position judgment and distance measurement process of the next lane segment.

[0105] In a feasible implementation manner, the method may further include steps S3410 to S3430:

[0106] Step S3410: If the projection point is within the enclosed range, the projection distance of the vehicle on the current lane segment is calculated and saved;

[0107] Step S3420: if the projection point is not within the enclosed range and the projection point is located on one side of the starting coordinate of the lane segment, then obtaining the projection distance of the vehicle on a number of historical lane segments, where the historical lane segments are a number of previous lane segments of the current lane segment;

[0108] Step S3430: Determine the position information of the vehicle according to the projection ratio and projection distance of the vehicle on the current lane segment, and the projection distance and projection ratio of the vehicle on the several historical lane segments.

[0109] It should be noted that when the projection point of the vehicle is within the clamping range, the system will calculate and save the projection distance of the vehicle on the current lane segment. The purpose of this step is to accurately record the actual driving distance of the vehicle in the current lane segment and provide an accurate numerical basis for the subsequent driving distance accumulation.

[0110] In addition, if the projection point of the vehicle is not within the encirclement range and is located on one side of the starting coordinate of the lane segment, the system will obtain the projection distance of the vehicle on several previous historical lane segments, which refer to the previous lane segments before the current lane segment.

[0111] In addition, the system will comprehensively determine the vehicle's position information based on the projection ratio and projection distance of the vehicle on the current lane segment, as well as the projection distance and projection ratio on the historical lane segments. This step is the core of the entire driving distance measurement method, which involves a comprehensive analysis of the vehicle's historical driving data and current driving state, ensuring the accuracy and reliability of the vehicle's position information.

[0112] Specifically, referring to Figure 5 , Figure 5 is a schematic diagram of the U-Turn scenario in the driving distance measurement method of this application. Considering the complex lane scenario, especially in the U-shaped lane scenario shown, when the vehicle is within the range of lane segment segment1, when the system calculates the projection ratio of the vehicle on all the previous lane segments of segment1, the result obtained is always portion > 1, because at this time, relative to the lane segments before lane segment segment1, the projections of the vehicle all fall outside the lane segment and on the end side of the lane segment, indicating that the vehicle has passed through this lane segment, so the increased value of the distance s_sum is the length of the lane segment. When calculating to lane segment segment1, the result obtained is 0 < portion < 1, that is, at this time, the vehicle projection falls on the line connecting the starting coordinate and the ending coordinate of lane segment segment1, so the increased value of the distance s_sum is the length of the lane segment multiplied by the projection ratio of the vehicle on the current lane segment. Until calculating to the subsequent lane segment of segment1, since the vehicle has not entered this lane segment, the projection ratio portion calculated according to the above process will be less than 0. At this time, the system stops updating the value of s_sum and obtains the final result.

[0113] However, considering the U-shaped lane scenario, if the vehicle is located at Figure 2If the vehicle is at the position of segment 2 in the middle, when the system calculates the projection ratio to be less than zero after one lane segment following lane segment 2, the update of the driving distance s_sum value stops. However, a problem occurs when determining the specific segment where the vehicle is located. That is, the projection ratios of the vehicle on lane segment 1 and lane segment 2 are both 0 < portion < 1. If only based on the projection ratio, the specific position of the vehicle cannot be determined. Therefore, this embodiment provides a method to solve this problem. After calculating the projection ratio of the vehicle on the lane segment and accumulating the driving distance s_sum value each time, the projection distance L from the vehicle to the current lane segment is calculated synchronously and recorded. When the system determines that the projection point of the vehicle on the current lane segment is not within the enclosed range and the projection point is on the side of the starting coordinate of the lane segment, the calculation of the relative position between the vehicle and the subsequent lane segments stops and the vehicle position information starts to be determined. At this time, if the projection ratios of the vehicle on more than one lane segment satisfy 0 < portion < 1, the projection distances L from the vehicle to these lane segments are further compared, and the lane segment corresponding to the smaller L value is determined as the lane segment where the vehicle is currently located.

[0114] More specifically, as Figure 5 shown, this lane is a U-Turn lane. The portion values of the vehicle agent on segment 1 and segment 2 of this lane both satisfy portion >= 0 and portion <= 1. Then, two sets of values (L, s) representing the vehicle position can be obtained for this U-Turn. Denote them as (L1, s1) on segment 1 and (L2, s2) on segment 2. At this time, the real position of the vehicle agent should correspond to (L2, s2). And at this time, L1 is greater than L2. By judging the magnitudes of L1 and L2 and taking the one with the smaller L value, the value (L, s) of the vehicle position can be accurately obtained as (L2, s2). When there are multiple sets of values (L, s) representing the vehicle position in a complex lane scenario, by comparing the L values and taking the set of values corresponding to the minimum L value, the real position can be obtained. In a U-shaped lane, a smaller L value of the vehicle indicates that the vehicle is closer to this lane at this time, while a larger L value means it is farther from this lane. The actual situation should be that the position closer to the lane line is the real position. Finally, by dividing the obtained s_sum by the length of the entire lane lane, the ratio of the distance from the projection point of the vehicle agent on the lane to the starting point of the lane to the entire lane can be further obtained.

[0115] The present embodiment provides a driving distance measurement method, by judging whether the projection point of the vehicle coordinates on the current lane segment is located within the sandwiched range of the lane segment start coordinates and the lane segment end coordinates of the current lane segment according to the projection ratio of the vehicle on the current lane segment; if the projection point is located within the sandwiched range, the current driving distance is updated according to the projection ratio of the vehicle on the current lane segment and the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane; if the projection point is not located within the sandwiched range, and the projection point is located on one side of the lane segment end coordinates of the current lane segment, the current driving distance is updated according to the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane. Through the above method, the distance between the projection point of the vehicle on the lane and the starting point of the lane in different scenarios can be solved quickly, and it has better performance for any complex scenarios such as curved roads or U-shaped roads, thereby improving the accuracy of calculating the distance between the projection point of the vehicle and the starting point of the lane in complex lane scenarios.

[0116] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the driving distance measurement method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0117] Please refer to Figure 6 The present application also provides a driving distance measuring device 60, the driving distance measuring device comprising:

[0118] An acquisition device 61, used for acquiring the vehicle coordinates of the vehicle on the lane and a lane coordinate point sequence of the lane;

[0119] A determining device 62, configured to determine a plurality of lane segments of the lane based on a plurality of lane coordinate points in the lane coordinate point sequence;

[0120] The measuring device 63 is used to determine the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments.

[0121] The driving distance measuring device provided by the present application adopts the driving distance measuring method in the above embodiment, which can solve the technical problem of driving distance measuring. Compared with the prior art, the beneficial effects of the driving distance measuring device provided by the present application are the same as the beneficial effects of the driving distance measuring method provided by the above embodiment, and the other technical features in the driving distance measuring device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0122] The present application provides a driving distance calculation device, which includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the driving distance calculation method in the above-mentioned embodiment 1.

[0123] Reference below Figure 7 , which shows a schematic diagram of the structure of a driving distance calculation device suitable for implementing the embodiment of the present application. The driving distance calculation device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The driving distance measuring device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0124] like Figure 7As shown, the driving distance measuring device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the driving distance measuring device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the driving distance calculation device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a driving distance calculation device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0125] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0126] The driving distance measuring device provided in the present application adopts the driving distance measuring method in the above-mentioned embodiment. Compared with the prior art, the beneficial effects of the driving distance measuring device provided in the present application are the same as the beneficial effects of the driving distance measuring method provided in the above-mentioned embodiment, and other technical features in the driving distance measuring device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0127] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0128] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0129] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the driving distance measurement method in the above-mentioned embodiment.

[0130] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0131] The computer-readable storage medium may be included in the driving distance measuring device; or may exist independently without being assembled into the driving distance measuring device.

[0132] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the driving distance measuring device, the driving distance measuring device is enabled to: obtain the vehicle coordinates of the vehicle on the lane, and the lane coordinate point sequence of the lane; determine a number of lane segments of the lane based on a number of lane coordinate points in the lane coordinate point sequence; and determine the driving distance of the vehicle on the lane based on the vehicle coordinates and the number of lane segments.

[0133] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0134] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0135] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0136] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned driving distance measurement method, and can solve the technical problem of driving distance measurement. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the driving distance measurement method provided in the above-mentioned embodiment, and will not be repeated here.

[0137] The present application also provides a computer program product, including a computer program, which implements the steps of the driving distance measurement method as described above when executed by a processor.

[0138] The computer program product provided by the present application can solve the technical problem of driving distance measurement. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the driving distance measurement method provided by the above embodiment, which will not be repeated here.

[0139] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A driving distance calculation method, characterized in that: The method is applied to a vehicle, and comprises: Acquire the vehicle coordinates of the vehicle on the lane and a lane coordinate point sequence of the lane; Determining a plurality of lane segments of the lane based on a plurality of lane coordinate points in the lane coordinate point sequence; A driving distance of the vehicle on the lane is determined based on the vehicle coordinates and the plurality of lane segments.

2. The method according to claim 1, characterized in that The lane coordinate point sequence includes a plurality of lane segment start coordinates and lane segment end coordinates, and the step of determining a plurality of lane segments of the lane based on the plurality of lane coordinate points in the lane coordinate point sequence includes: A plurality of lane segments of the lane are determined based on the lane segment start coordinates and the lane segment end coordinates.

3. The method according to claim 2, characterized in that The step of determining the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments comprises: Obtaining the current driving distance of the vehicle; Calculate the projection ratio of the vehicle on the current lane segment based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates; According to the projection ratio of the vehicle on the current lane segment, the current driving distance is updated by the segment distance of the current lane segment and / or the projection ratio of the vehicle on the current lane segment to obtain the driving distance of the vehicle on the lane.

4. The method according to claim 3, characterized in that The step of calculating the projection ratio of the vehicle on the current lane segment based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates comprises: Constructing a starting point-vehicle vector according to the lane segment starting coordinates of the current lane segment and the vehicle coordinates; Constructing a start-end vector according to the lane segment start coordinates and the lane segment end coordinates of the current lane segment; The projection ratio of the vehicle on the current lane segment is determined according to the vector dot product result of the start point-vehicle vector and the start point-end point vector, and the segment distance of the current lane segment.

5. The method according to claim 3, characterized in that The step of updating the current driving distance according to the projection ratio of the vehicle on the current lane segment by the segment distance of the current lane segment and / or the projection ratio of the vehicle on the current lane segment to obtain the driving distance of the vehicle on the lane comprises: According to the projection ratio of the vehicle on the current lane segment, determining whether the projection point of the vehicle coordinates on the current lane segment is within the range between the lane segment start coordinates and the lane segment end coordinates of the current lane segment; If the projection point is within the enclosed range, the current driving distance is updated according to the projection ratio of the vehicle on the current lane segment and the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane; If the projection point is not within the enclosed range, and the projection point is located on one side of the lane segment end coordinates of the current lane segment, the current driving distance is updated according to the segment distance of the current lane segment to obtain the driving distance of the vehicle on the lane.

6. The method according to claim 5, characterized in that After the step of determining the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments, the step further includes: Determine a subsequent lane segment of the current lane segment, take the subsequent lane segment as the current lane segment and execute the steps: Based on the lane segment start coordinates and lane segment end coordinates corresponding to the current lane segment and the vehicle coordinates, a projection ratio of the vehicle on the current lane segment is calculated.

7. The method according to claim 5, characterized in that The method further comprises: If the projection point is within the enclosed range, the projection distance of the vehicle on the current lane segment is calculated and saved; If the projection point is not within the enclosed range and the projection point is located on one side of the starting coordinate of the lane segment, then obtaining the projection distance of the vehicle on a number of historical lane segments, where the historical lane segments are a number of previous lane segments of the current lane segment; The position information of the vehicle is determined according to the projection ratio and projection distance of the vehicle on the current lane segment, and the projection distance and projection ratio of the vehicle on the plurality of historical lane segments.

8. A driving distance measuring device, characterized in that: The device comprises: An acquisition device, used to acquire the vehicle coordinates of the vehicle on the lane, and a lane coordinate point sequence of the lane; a determining device, for determining a plurality of lane segments of the lane based on a plurality of lane coordinate points in the lane coordinate point sequence; A measuring device is used to determine the driving distance of the vehicle on the lane based on the vehicle coordinates and the plurality of lane segments.

9. A driving distance measuring device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the driving distance calculation method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the driving distance measurement method according to any one of claims 1 to 7 are implemented.

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